Capsule

ABSTRACT

System for producing a stereoscopic image of an object, and displaying the stereoscopic image, the system including a capsule and a control unit, the capsule including a sensor assembly, a processor connected to the sensor assembly, a capsule transceiver connected to the processor, a light source, and a power supply for supplying electrical power to the capsule transceiver, the processor, the light source and to the sensor assembly, the control unit including a control unit transceiver, and an image processing system connected to the control unit transceiver, wherein, the sensor assembly detects the stereoscopic image, the processor captures the stereoscopic image, the capsule transceiver transmits the stereoscopic image to the control unit transceiver and the image processing system processes the stereoscopic image.

CROSS REFERENCE INFORMATION

[0001] This application is a Continuation-in-Part of application Ser.No. 09/257,850, filed Feb. 25, 1999 and Ser. No. 09/699,624, filed Oct.30, 2000.

FIELD OF THE INVENTION

[0002] The present invention relates to endoscopes, microscopes andhoroscopes, in general and to stereoscopic image pick up devices withcolor imaging capability, in particular.

BACKGROUND OF THE INVENTION

[0003] Stereoscopic image detection devices are known in the art. Suchdevices are required to obtain and provide a combination of small crosssection and high image quality. It will be appreciated by those skilledin the art that high image quality, in general, is characterized bystereoscopic vision accuracy, color capabilities, high resolution andillumination requirements.

[0004] It is noted that conventional methods, which provide stereoscopicimages, require a wider optical path than a monocular one. Such awidened optical path enlarges the cross-section required for thedetection device considerably. Hence, the requirement for a small crosssection is not maintained.

[0005] U.S. Pat. No. 5,527,263 to Jurgen, is directed to a dual opticalpath stereo endoscope with simple optical adjustment. U.S. Pat. No.5,776,049 to Takahashi, is directed to a “Stereo Endoscope in StereoEndoscope Imaging Apparatus” and provides a device which utilizes acombination of two optical paths with two charge coupled devices(CCD's), capable of variable zoom.

[0006] Auto-stereoscopic devices, which utilize one optical system toprovide a stereo effect, are also known in the art. Such a device isprovided in U.S. Pat. No. 5,603,687 to Hori, which is directed to adevice with two parallel optical axes and two CCD units. Hori selectedan asymmetrical approach, wherein one optical channel has a largeaperture for light and details, and the other optical channel provides aparallax image for stereoscopic imagery to the proximal CCD.

[0007] U.S. Pat. No. 5,613,936 to Czamek, is directed to a stereoscopicendoscope device which utilizes light polarization and timemultiplexing, in order to transmit each different polarized imagecorresponding to left and right images multiplexed in time, through oneoptical channel that transfers images from the lateral side of theendoscope shaft. This endoscope has to be inserted deeper into the humancavity to receive a stereo image. It must also be used with a headmounted display device called “switched shutter glasses” that causes eyeirritation. It is noted that according to Czarnek each image is receivedin 25% of the original quality. As much as 50% of the light receivedfrom the object, is lost due to polarization considerations and as muchas 50% of the remaining information is lost due to channel switching.

[0008] U.S. Pat. No. 5,588,948, to Susumu, is directed to a stereoscopicendoscope. The stereo effect is produced by having a dividing pupilshutter, which splits the optical path onto the left and right sides,and the up and down sides. These sides are alternately projected on aproximal image pick up device, using time multiplexing. According toanother aspect of this reference, a distal CCD is included, which isdivided to left and right sides with a shading member separating them,for achieving space multiplexing.

[0009] U.S. Pat. No. 5,743,847 to Nakamura et al., is directed to a“Stereoscopic Endoscope Having Image Transmitting Optical-System andPupil Dividing Unit that are Axially Movable With Respect to EachOther”, which uses a plural pupil dividing means and one opticalchannel. U.S. Pat. No. 5,751,341 to Chaleki et al., is directed to a“Stereoscopic Endoscope System”, which is basically a two channelendoscope, with one or two proximal image sensors. A rigid sheath withan angled distal tip could be attached to its edge and be rotated, forfull view.

[0010] U.S. Pat. No. 5,800,341 to Mckenna et al., is directed to an“Electronically Steerable Endoscope”, which provides different fields ofview, without having to move the endoscope, using a plurality of CCDcells and processing means. U.S. Pat. No. 5,825,534 to Strahle, isdirected to a “Stereo Endoscope having a Folded Sideline Sight Line”including a stereo-endoscope optical channel, having a sight line foldedrelative to tube axis.

[0011] U.S. Pat. No. 5,828,487 to Greening et al., is directed to a“Stereoscopic Viewing System Using a Two Dimensional Lens System” whichin general, provides an alternative R-L switching system. This systemuses a laterally moving opaque leaf, between the endoscope and .thecamera, thus using one imaging system. U.S. Pat. No. 5,594,497 to Ahem,describes a distal color CCD, for monocular view in an elongated tube.

[0012] The above descriptions provide examples of auto-stereoscopicinventions, using different switching techniques (Time divisionmultiplexing) and polarization of channels or pupil divisions (spatialmultiplexing), all in an elongated shaft. When color image pick updevices are used within these systems, the system suffers from reducedresolution, loss of time related information or a widened cross section.

[0013] The issue of color imagery or the issue of a shaft-less endoscopeis not embedded into any solution. To offer higher flexibility and toreduce mechanical and optical constraints it is desired to advance theimage pick-up device to the frontal part of the endoscope. This allowsmuch higher articulation and lends itself easily to a flexibleendoscope. Having a frontal pick up device compromises the resolution ofthe color device due to size constraints (at this time).

[0014] U.S. Pat. No. 5,076,687 to Adelson, is directed to an “OpticalRanging Apparatus” which is, in general a depth measuring deviceutilizing a lenticular lens and a cluster of pixels.

[0015] U.S. Pat. No. 5,760,827 to Fads, is directed to “Pixel DataProcessing System and Method for Producing Spectrally-Multiplexed Imagesof Three-Dimensional Imagery for Use in Stereoscopic Viewing Thereof”and demonstrates the use of multiplexing in color and as such, offers asolution for having a color stereo imagery with one sensor.Nevertheless, such a system requires several sequential passes to beacquired from the object, for creating a stereo color image.

[0016] U.S. Pat. No. 5,812,187 to Akira, is directed to an ElectronicEndoscope Apparatus. This device provides a multi-color image using amonochromatic detector and a mechanical multi-wavelength-illuminatingdevice. The monochromatic detector detects an image, each time themulti-wavelength-illuminating device produces light at a differentwavelength.

[0017] U.S. Pat. No. 5,604,531 issued to Iddan, et al., and entitled “InVivo Video Camera System”, is directed to a system for viewing theinside of the digestive system of a patient. The system includes aswallowable capsule, which views the inside of the digestive system andtransmits video data, a reception system located outside the patient,and a data processing the video data. The capsule includes a lightsource, a window, a camera system such as a CCD camera, an opticalsystem, a transmitter, and a power source.

[0018] The light source illuminates the inner portions of the digestivesystem through the window. The camera system detects the images, theoptical system focuses the images onto the CCD camera, the transmittertransmits the video signal of the CCD camera, and the power sourceprovides power to the electrical elements of the capsule. The CCD cameracan provide either black and white or color signals. The capsule canadditionally include sensor elements for measuring pH, temperature andpressure.

[0019] International publication No. WO 00/22975 entitled “A Method ForDelivering a Device to a Target Location”, is directed to a method forviewing the inside of the digestive system, and discharging medicamentsor collecting fluid or cell samples from the environment. The methodemploys a capsule, which includes a light source, a viewing window, acamera system, an optical system, a transmitter, a power source, and astorage compartment for releasing a medicament or collecting cellsamples or fluid. The light source, viewing window, camera system,optical system, transmitter, and power source are similar to thosedescribed herein above in connection with U.S. Pat. No. 5,604,531.

[0020] One end of the capsule includes a bi-stable spring connectedbetween an inflexible barrier proximal to the capsule and a firmdiaphragm distal to the capsule, thus forming the storage compartment.The capsule includes a pouch wall between the firm diaphragm and thecapsule end. The firm diaphragm includes a piercing pin for rupturingthe pouch wall. The capsule end furthermore includes a permeable areafor transfer of fluid to or from the storage compartment.

[0021] The spring is extended by heating it, thus moving the firmdiaphragm distally. The piercing pin ruptures the pouch wall, therebyallowing controllable amount of the medicament to exit from the storagecompartment through the hole pierced in the pouch wall and through thepermeable area. Conversely, the bi-stable spring is retracted in orderto collect a controllable amount of fluid or cell samples, wherein thefluid transfers to the storage compartment, through the permeable area.

SUMMARY OF THE PRESENT INVENTION

[0022] It is an object of the present invention to provide a novelsystem for stereoscopic imaging using a lenticular lens layer and asensor array, and a novel method for operating the same, which overcomesthe disadvantages of the prior art.

[0023] In accordance with the present invention, there is thus provideda stereoscopic device, which includes a lenticular lens layer and acolor light sensor array. The lenticular lens layer includes a pluralityof lenticular elements. Each of the lenticular elements is located infront of a selected group of the light sensors of the sensor array,thereby directing light from different directions to different lightsensors within the selected group of the light sensors.

[0024] In accordance with a further aspect of the invention, there isprovided a stereoscopic device, which includes a lenticular lens layerand a light sensor array, including a plurality of light sensors, whereeach of the light sensors detects light at a predetermined range ofwavelengths.

[0025] The stereoscopic device according to the invention can beconstructed as-a large-scale device, such as a television camera or asmall-scale device such as an endoscope.

[0026] In a stereoscopic device according to the invention, each of thelenticular elements includes light directing means, which distinguishbetween at least two directions of light. For example, each of thelenticular elements can be shaped in a general semi-cylindrical shape.Each of the lenticular elements can alternatively include lightdirecting means, which distinguish between four directions of light. Forexample, such a lenticular element can be shaped in a generalsemispherical shape.

[0027] According to one aspect of the invention, each of the selectedgroups of the light sensors includes an even number of light sensors.According to another aspect of the invention, each of the selectedgroups of the light sensors includes an odd number of light sensors.

[0028] The stereoscopic device of the invention can further include anilluminating unit. This light illuminating unit can surround thelenticular lens layer. An illumination unit according to the inventionincludes a light source, a light distribution unit and light guidingmeans connected between the light source and the light dispersing unit.The light guiding means guides light from the light source to the lightdispersing unit. According to one aspect of the invention, the lightdispersing unit surrounds the lenticular lens layer.

[0029] The light illuminating unit can produce light in a predeterminedrange of wavelengths. According to another aspect of the invention, thelight illuminating unit produces at least two alternating beams oflight, where each of the beams of light is characterized as being in adifferent range of wavelengths.

[0030] The stereoscopic device according to the invention, can furtherinclude a controller connected to the array of light sensors. Thiscontroller produces an image for each of the different directions, bycombining data received from the light sensors respective of each of thedifferent directions.

[0031] This controller can be connected to the array of light sensors.Accordingly, the controller produces an image for each combination of aselected one, of the different directions and a selected one of thebeams of light, by combining data received from the light sensorsrespective of each of the different directions, with respect to thecurrently illuminating one of the beams of light.

[0032] The stereoscopic device according to the invention can furtherinclude capturing means, connected to the array of light sensors, forcapturing data received from light sensors and a storage unit forstoring the captured data. The stereoscopic device can further include astereoscopic display unit, connected to the controller, for producingthe image in a stereoscopic manner. The produced image can be partiallystereoscopic.

[0033] The predetermined ranges of wavelengths, which are applicable forthe light sensors as well as for the illumination light beams can besubstantially visible red color light, substantially visible green colorlight, substantially visible blue color light, substantially visiblecyan color light, substantially visible yellow color light,substantially visible magenta color light, substantially infra-redlight, substantially ultra-violet light, visible light, and the like.

[0034] For example, either the light sensor array or the light beams caninclude a color combination of red-green-blue (RGB),cyan-yellow-magenta-green (CYMG), a white light color combination, andthe like.

[0035] In accordance with a further aspect of the invention, there isthus provided a method for detecting a stereoscopic image. The methodincludes the steps of splitting light which arrives from differentdirections, using a lenticular lens layer, thereby producing at leasttwo images, which are intertwined in a master image, and detecting themaster image.

[0036] The method can further include the step of reconstructing each ofthe images from the master image. In addition, the method can furtherinclude the step of displaying the images using a stereoscopic displaydevice.

[0037] Furthermore, the method can include the step of simultaneouslydisplaying the images on a stereoscopic display device. In addition, themethod can further include the steps of sequentially illuminating adetected area with alternating beams of light of different ranges ofwavelength, and associating the master image in time, with the currentlyilluminating ranges of wavelength.

[0038] The step of reconstructing can include the steps of determining arange of wavelengths for each pixel within each one of the images, anddetermining an intensity level for each pixel within each one of theimages. The step of reconstructing can further include the steps ofselecting one of the pixels, associated with a predetermined range ofwavelengths and determining the pixels associated with another range ofwavelengths, in the vicinity of the selected pixel. The step ofreconstructing can further include the steps of calculating anapproximated level of the other range of wavelengths at the location ofthe selected pixel and starting again from the step of selecting.

[0039] In accordance with another aspect of the present invention, thereis thus provided a stereoscopic device for detecting a stereoscopicimage. The stereoscopic device includes at least two apertures, a multiwavelength light sensor array and a controllable multi wavelengthillumination unit. Each aperture includes a plurality of light valves.The controllable multi wavelength illumination unit produces at leasttwo alternating beams of light, where each beam of light ischaracterized as being in a different range of wavelengths. Each lightvalve is operative to open at a different predetermined timing.Furthermore, the multi wavelength light sensor array detects a pluralityof images, where each of the images corresponds to a predeterminedcombination of an open state of a selected light valve and a selectedmode.

[0040] In accordance with a further aspect of the present invention,there is thus provided a method for detecting a stereoscopic image. Themethod includes the steps of alternating between at least two apertures,producing a sequence of at least two illumination beams and detecting aplurality of frames. The apertures are directed at an object. Theillumination beams are produced in different ranges of wavelengths. Eachof the frames is detected for a combination, which includes a selectedaperture and a selected illumination beam.

[0041] In accordance with another aspect of the present invention; thereis thus provided a stereoscopic device. The stereoscopic device includesa sensor assembly for detecting a sequence of stereoscopic images of anobject, a movement detector for detecting the movements of the sensorassembly relative to the object, and a processing unit connected to thesensor assembly and to the movement detector. The processing unitselects portions of the stereoscopic images, according to a signalreceived from the movement detector, thereby producing a visually stablesequence of display images.

[0042] In accordance with a further aspect of the present invention,there is thus provided a method for producing a stable sequence ofstereoscopic images of an object. The method includes the steps ofdetecting a plurality of stereoscopic images, for each of thestereoscopic images, detecting the movements of the stereoscopic sensorassembly relative to the object, and for each the stereoscopic images,selecting a portion of each of the stereoscopic images, according to therespective movement. The stereoscopic images are detected by employing astereoscopic sensor assembly.

[0043] In accordance with another aspect of the present invention, thereis thus provided a system for producing a stereoscopic image of anobject and displaying the stereoscopic image. The system includes acapsule and a control unit. The capsule includes a sensor assembly, aprocessor connected to the sensor assembly, a capsule transceiverconnected to the processor, a light source, and a power supply. Thepower supply supplies electrical power to the capsule transceiver, theprocessor, the light source and to the sensor assembly. The control unitincludes a control unit transceiver, and an image processing systemconnected to the control unit transceiver. The sensor assembly detectsthe stereoscopic image, the processor captures the stereoscopic image,the capsule transceiver transmits the stereoscopic image to the controlunit transceiver and the image processing system processes thestereoscopic image.

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present invention will be understood and appreciated morefully from the following detailed description taken in conjunction withthe drawings in which:

[0045]FIG. 1 is a schematic illustration of a three dimensional objectand a stereoscopic vision apparatus, constructed and operative inaccordance with a preferred embodiment of the present invention;

[0046]FIG. 2 is a schematic illustration of a stereoscopic visionapparatus, constructed and operative in accordance with anotherpreferred embodiment of the present invention;

[0047]FIG. 3A is a schematic illustration of a super-pixel, constructedand operative in accordance with a further preferred embodiment of thepresent invention;

[0048]FIG. 3B is a schematic illustration of the super-pixel of FIG. 3Aand a lenticular element, constructed and operative in accordance with aanother preferred embodiment of the present invention;

[0049]FIG. 3C is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance with afurther preferred embodiment of the present invention;

[0050]FIG. 4 is a schematic illustration of a super-pixel, constructedand operative in accordance with another preferred embodiment of thepresent invention;

[0051]FIG. 5A is a schematic illustration of a color super-pixel,constructed and operative in accordance with a further preferredembodiment of the present invention;

[0052]FIG. 5B is a schematic illustration of the color super-pixel ofFIG. 5A, with a single lenticular element, constructed and operative inaccordance with another preferred embodiment of the present invention;

[0053]FIG. 5C is a schematic illustration of the color super-pixel ofFIG. 5A, combined with three lenticular elements, constructed andoperative in accordance with a further preferred embodiment of thepresent invention;

[0054]FIG. 6 is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance withanother preferred embodiment of the present invention;

[0055]FIG. 7A is a schematic illustration of a method for operating theapparatus of FIG. 2, operative in accordance with a further preferredembodiment of the present invention;

[0056]FIG. 7B is an illustration in detail of a step of the method ofFIG. 7A;

[0057]FIG. 7C is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance withanother preferred embodiment of the present invention;

[0058]FIG. 8 is a schematic illustration of a stereoscopic visionapparatus, constructed and operative in accordance with a furtherpreferred embodiment of the present invention;

[0059]FIG. 9A is a view in perspective of a section of light sensors,and a lenticular element, constructed and operative in accordance withanother preferred embodiment of the present invention;

[0060]FIG. 9B is a view from the bottom of the lenticular element andthe section of light sensors of FIG. 9A;

[0061]FIG. 9C Is a view from the side of the lenticular element and thesection of light sensors of FIG. 9A;

[0062]FIG. 10 is a view in perspective of a section of light sensors,and a lenticular element, constructed and operative in accordance with afurther preferred embodiment of the present invention;

[0063]FIG. 11 is a view in perspective of a sensor array and alenticular lens layer, constructed and operative in accordance-withanother preferred embodiment of the present invention;

[0064]FIG. 12A is a schematic illustration of a detection apparatus,constructed and operative in accordance with a further preferredembodiment of the present invention;

[0065]FIG. 12B is another schematic illustration of the detectionapparatus of FIG. 12A;

[0066]FIG. 13 is a schematic illustration of a detection apparatus,constructed and operative in accordance with another preferredembodiment of the present invention;

[0067]FIG. 14A is a partially schematic partially perspectiveillustration of a combined illumination and detection device,constructed and operative in accordance with a further preferredembodiment of the present invention;

[0068]FIG. 14B is a partially schematic partially perspectiveillustration of the combined illumination and detection device of FIG.14A, a controller and output frames, constructed and operative inaccordance with another preferred embodiment of the present invention;

[0069]FIG. 15 is an illustration in perspective of a color illuminationunit, constructed and operative in accordance with a further preferredembodiment of the present invention;

[0070]FIG. 16 is a view in perspective of a sensor array and a partiallenticular lens layer, constructed and operative in accordance withanother preferred embodiment of the present invention;

[0071]FIG. 17 is a view in perspective of a sensor array and a partiallenticular lens layer, constructed and operative in accordance with afurther preferred embodiment of the present invention;

[0072]FIG. 18 is a schematic illustration of a sensor array and apartial lenticular lens layer, constructed and operative in accordancewith another preferred embodiment of the present invention;

[0073]FIG. 19 is a schematic illustration of a sensor array and apartial lenticular lens layer, constructed and operative in accordancewith a further preferred embodiment of the present invention;

[0074]FIG. 20A is a schematic illustration of a system, for producing acolor stereoscopic image, in a right side detection mode, constructedand operative in accordance with another preferred embodiment of theinvention;

[0075]FIG. 20B is an illustration of the system of FIG. 20A, in aleft-side detection mode;

[0076]FIG. 21A is a schematic illustration of a timing sequence, inwhich the controller of the system of FIG. 20A synchronizes theoperation of illumination unit, apertures and image detector of thatsame system;

[0077]FIG. 21B is a schematic illustration of another timing sequence,in which the controller of FIG. 20A synchronizes the operation of theillumination unit, right and left apertures and the image detector;

[0078]FIG. 22 is a schematic illustration of a method for operating thesystem of FIGS. 20A and 20B, operative in accordance with a furtherpreferred embodiment of the present invention;

[0079]FIG. 23 is a schematic illustration of a timing scheme, foroperating the system of FIGS. 20A and 20B, in accordance with anotherpreferred embodiment of the present invention;

[0080]FIG. 24 is a schematic illustration of a timing scheme, foroperating the system of FIGS. 20A and 20B, in accordance with a furtherpreferred embodiment of the present invention;

[0081]FIG. 25A is a schematic illustration of an object and a sensorassembly, when the sensor assembly is located at an initial positionwith respect to the object;

[0082]FIG. 25B is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a newposition;

[0083]FIG. 25C is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to anotherposition;

[0084]FIG. 25D is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position;

[0085]FIG. 25E is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to another newposition;

[0086]FIG. 25F is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position;

[0087]FIG. 26A is a schematic illustration of a detected image, asdetected by sensor assembly of FIG. 25A, and a respective displayedimage, in accordance with a further preferred embodiment of the presentinvention;

[0088]FIG. 26B is a schematic illustration of a detected image, asdetected by sensor assembly of FIG. 25B, and a respective displayedimage;

[0089]FIG. 26C is a schematic illustration of a detected image, asdetected by the sensor assembly of FIG. 25C, and a respective displayedimage;

[0090]FIG. 27A is a schematic illustration of a sub-matrix, inaccordance with another preferred embodiment of the present invention,when the sensor assembly is at a location illustrated in FIG. 25A;

[0091]FIG. 27B is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25B;

[0092]FIG. 27C is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25C;

[0093]FIG. 27D is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25D;

[0094]FIG. 27E is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25E;

[0095]FIG. 27F is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated In FIG. 25F;

[0096]FIG. 28 is a schematic illustration of an imaging system,constructed and operative in accordance with a further preferredembodiment of the present invention;

[0097]FIG. 29 is a schematic illustration of an imaging system,constructed and operative in accordance with another preferredembodiment of the present invention;

[0098]FIG. 30 is a schematic illustration of an imaging system,constructed and operative in accordance with a further preferredembodiment of the present invention;

[0099]FIG. 31 is a schematic illustration of a capsule, constructed andoperative in accordance with another preferred embodiment of the presentinvention;

[0100]FIG. 32A is a schematic illustration of a capsule, constructed andoperative in accordance with a further preferred embodiment of thepresent invention; and

[0101]FIG. 32B is an illustration of the capsule of FIG. 32A, in adifferent detection mode.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0102] The present invention overcomes the disadvantages of the priorart by providing a continuous vision stereoscopic apparatus, using agenerally lenticular lens layer, a light sensor array and an imageprocessing system.

[0103] Reference is now made to FIG. 1, which is a schematicillustration of a three dimensional object and a stereoscopic visionapparatus, generally referenced 100, constructed and operative inaccordance with a preferred embodiment of the present invention.Apparatus 100 includes a lenticular lens layer 104, a light sensor array102, a processor 106 and two display devices 108R and 108L. Apparatus100 is placed in front of a three-dimensional object 150. An opticalassembly 152 is placed between apparatus 100 and object 150, forfocusing the image of object 150 on light sensor array 102.

[0104] Light sensor array 102 includes a plurality of sensors 110, 111,112, 113, 114, 115, 116, 117, 118 and 119. Lenticular lens layer 104includes a plurality of lenticular elements 130, 132, 134, 136 and 138.Each one of the lenticular elements is located above two light sensors,in a way that lenticular element 130 is located above sensors 110 and111, lenticular element 132 is located above sensors 112 and 113,lenticular element 134 is located above sensors 114 and 115, lenticularelement 136 is located above sensors 116 and 117 and lenticular element138 is located above sensors 118 and 119.

[0105] The light sensors 110, 111, 112, 113, 114, 115, 116, 117, 118,and 119, detect light as directed by the lenticular lens elements 130,132, 134, 136 and 138, and provide respective information to theprocessor 106. The processor 106 processes this information, produces apair of images, as will be explained in detail herein below, andprovides them to the display units 108R and 108L, which in turn producevisual representations of these images.

[0106] In general, each lenticular element directs light rays, whicharrive from a predetermined direction to a predetermined location, andlight rays which arrive from another predetermined direction, to anotherpredetermined location. Hence, the present invention, utilizes thelenticular lens layer to distinguish between a right view image and aleft view image, as is described herein below.

[0107] Each of the display units 108R and 108L includes a plurality ofdisplay units also known as pixels. Display unit 108L includes pixels142A, 142B, 142C, 142D and 142E. Display unit 108R includes pixels 144A,144B, 144C, 144D and 144E. Using these pixels each of the display units108R and 108L produces an image, according to data provided from theprocessor 106. The two images, each viewed by a different eye of theuser, produce a sensation of a three dimensional image.

[0108] Light rays 124A, and 126A represent a right-side image of thethree-dimensional object 150. Light rays 120A, and 122A represent a leftside image of the three-dimensional object 150. The optical assembly 152redirects light rays 120A, 122A, 124A and 126A so as to focus them on aplain which is determined by the light sensor array 102, as light rays120B, 122B, 124B and 126B, respectively. Hence, light rays 122B and 126Brepresent a focused right side view of the three-dimensional object 150,and light rays 120B and 124B, represent a focused left side view of thethree-dimensional object 150.

[0109] The lenticular lens layer 104 directs the focused right side viewlight rays 122B and 126B to light sensors 110 and 118, respectively, asrespective light rays 122C and 126C. In addition, the lenticular lenslayer 104 directs the focused left side view light rays 120B and 124B tolight sensors 111 and 119, respectively. In general, light sensors 111,113, 115, 117 and 119 detect light rays which relate to a left side viewimage of object 150, and light sensors 110, 112, 114, 116, and 118,detect light rays which relate to a right side view image of object 160.

[0110] Hence, light sensors 110, 112, 114, 116 and 118 detect the rightside image of object 150, while light sensors 111, 113, 115, 117 and 119detect the left side image of object 150. The light sensor array 102provides data relating to the detected light intensity at each of thelight sensors to the processor 106.

[0111] The processor 106 processes this data, produces a right sideimage from the data relating to the right side view and a left sideimage from the data relating to the left side view, and provides therespective image to the respective display unit 108R and 108L. In thepresent example, the processor 106 utilizes the data received fromsensors 110, 112, 114, 116 and 118 to determine the data provided topixels 144A, 144B, 144C, 144D and 144E, respectively. Similarly, theprocessor 106 utilizes the data received from sensors 111, 113, 115, 117and 119 to determine the data which is to be provided to pixels 142A,142B, 142C, 142D and 142E, respectively.

[0112] According to the present invention, the right side image and theleft side image are detected at the same time and hence, can also bedisplayed at the same time. According to another aspect of the presentinvention, each of the light sensors 110, 111, 112, 113, 114, 115, 116,117, 118, and 119, includes a plurality of color sensing elements, whichtogether cover a predetermined spectrum, as will be described in detailherein below.

[0113] Reference is now made to FIG. 2, which is a schematicillustration of a stereoscopic vision apparatus, generally referenced200, constructed and operative in accordance with another preferredembodiment of the present invention. Apparatus 200 includes a sensorassembly 202, an interface 210, a processor 208, a movement detector230, a light source 206, a memory unit 204, a stereoscopic videogenerator 212 and a stereoscopic display 214. The sensor assembly 202 isconnected to the interface 210 by a flexible cord 218. The interface 210is connected to processor 208, memory unit 204, and to light source 206.The processor 208 is further connected to the memory unit 204, movementdetector 230 and to the stereoscopic video generator 212. Thestereoscopic video generator 212 is further connected to thestereoscopic display 214. Movement detector 230 detects the movement ofsensor assembly 202 relative to an object. For this purpose, movementdetector 230 is attached to sensor assembly 202. In the case of a rigidendoscope, the movement detector 230 can be attached to any part of theendoscope rod (not shown), since the movement of the endoscope head canbe determined according to the movement of any point of the endoscoperod. The operation of system 200, according to data received frommovement detector 230, is described herein below.

[0114] The sensor assembly 202 includes a focusing element, which in thepresent example is a lens 226, a lenticular lens layer 222, a lightsensor array 220, an interface 228 and a light projecting means 224. Thelenticular lens layer 222 is attached to the light sensor array 220.According to the invention, the light sensor array 220 can be any typeof sensing array, such as a CCD detector, a CMOS detector, and the like.The light sensor array 220 is connected to the interface 228, which canalso acts as a supporting base.

[0115] The stereoscopic display 214 includes two display units, a leftdisplay unit 216L (for placing in front of the left eye of the user) anda right display unit 216R (for placing in front of the right eye of theuser). Hence, the stereoscopic display 214 is capable of displayingstereoscopic images continuously. Such a stereoscopic display unit isfor example the ProView 50 ST head-mounted display, manufactured andsold by Kaiser Electro-Optics Inc., a U.S. registered company, locatedin Carlsbad, Calif. Another example for a stereoscopic display unit isthe virtual retinal display (VRD) unit, which is provided by MICROVISIONInc., a U.S. registered company, located in Seattle, Wash. It is notedthat any method, which is known in the art for displaying stereoscopic,and for that matter three-dimensional images, is applicable for thepresent invention.

[0116] The image received from a three-dimensional object is received atthe sensor assembly 202, focused by lens 226, optically processed by thelenticular lens layer 222 and finally detected by the light sensor array220. The lenticular lens layer 222 directs light coming from onepredetermined direction to predetermined light sensors of the lightsensor array 220, and light coming from another predetermined directionto other predetermined light sensors of the light sensor array 220.Accordingly, light sensor array 220 detects two images of the sameobject, a right side image and a left side image, each from a differentdirection. This aspect of the invention is described in detailhereinabove, in conjunction with FIG. 1.

[0117] An electronic representation of this information is partiallyprocessed by the interface 228 and then provided to the interface 210,via flexible cord 218. It is noted that flexible cord 218 includesdigital communication linking means such as optic fibers or electricalwires, for transferring data received from light, sensor array 220, aswell as light guiding conducting means for conducting light from lightsource 206 to the light projecting means 224. According to the presentinvention, flexible cord 218 can be replaced with a rigid cord (notshown), if necessary.

[0118] The data received at interface 210 includes information, whichrelates to the two images and has to be processed so as to distinguishthem from each other. As the processor 208 processes the information, ituses the memory unit 204 as temporarily storage.

[0119] After processing the information, the processor 208 produces twomatrices each being a reconstructed representation relating to one ofthe originally detected images. The processor provides these matrixes tothe stereoscopic video generator 212, which in turn produces tworespective video signals, one for the left view image and another forthe right view image.

[0120] The stereoscopic video generator 212 provides the video signalsto the stereoscopic display 214, which in turn produces two images, oneusing right display unit 216R and another using left display unit 216L.

[0121] It is noted that the general size of the sensor assembly 202 isdictated by the size of the sensor array and can be in the order of afew millimeters or a few centimeters. This depends on the size of eachof the sensors in the array and the total number of sensors (i.e. therequired optical resolution).

[0122] According to one aspect of the invention, each of the sensors inlight sensor array 220, is a full range sensor, which yields datarelating to a gray scale stereoscopic image. According to another aspectof the invention, each of the sensors in the light sensor array, can beadapted so as to provide full color detection capabilities.

[0123] Reference is now made to FIG. 3A, which is a schematicillustration of a super-pixel, generally referenced 300, constructed andoperative in accordance with a further preferred embodiment of thepresent invention. Super-pixel 300 includes a left section of sensorswhich includes three sensors 302, 304 and 306, and a right section ofsensors which also includes three sensors 308, 310 and 312. Sensors 302and 310 detect generally red colored light, sensors 304 and 312 detectgenerally green colored light and sensors 306 and 308 detect generallyblue colored light. Hence, each of the sections includes a complete setof sensors for detecting light in the entire visible spectrum.

[0124] Reference is further made to FIG. 3B, which is a schematicillustration of the super-pixel 300 of FIG. 3A and a lenticular element,generally referenced 318, constructed and operative in accordance withanother preferred embodiment of the present invention. The lenticularelement 318 is located on top of super-pixel 300, where Its right sidecovers the right section of the super-pixel 300, and its left sidecovers the left section of the super-pixel 300. Accordingly, thelenticular element 318 directs light, which arrives from the right(right view image), to the left section of the super-pixel 300, where itis detected in full spectrum by sensors 302, 304 and 306.

[0125] The data provided by these sensors can later be utilized toreconstruct an image in full color. Similarly, the lenticular element318 directs light, which arrives from the left (left view image), to theright section of the super-pixel 300, where it is detected in fullspectrum by sensors 308, 310 and 312.

[0126] Reference is now made to FIG. 3C, which is a schematicillustration of a sensor array, generally referenced 330, and alenticular lens layer, generally referenced 332, constructed andoperative in accordance with a further preferred embodiment of thepresent invention. Sensor array 330 is a matrix of M×N super-pixels,which are generally referenced 340. For example, the upper leftsuper-pixel is denoted 340 _((1,1)), the last super-pixel in the samecolumn is denoted 340 _((1,N)) and the lower-right pixel is denoted 340_((M,N)). A lenticular lens layer 332 of which three lenticular elementsare shown (referenced 334), is placed over the sensor array 330.

[0127] Lenticular element 334 ₍₁₎ covers the first column ofsuper-pixels 340 from super-pixel 340 _((1,1)) to super-pixel 340_((1,N)). Lenticular element 334 ₍₂₎ covers the second column ofsuper-pixels 340 from super-pixel 340 _((2,1)) to super-pixel 340_((2,N)). Lenticular element 334 ₍₃₎ covers the third column ofsuper-pixels 340 from super-pixel 340 _((3,1)) to super-pixel 340_((3,N)). Accordingly, each of the lenticular elements of the lenticularlens layer covers an entire column of super-pixels.

[0128] It is noted that a super-pixel according to the present inventioncan include sensors in any set of colors such as red-green-blue (RGB);cyan-yellow-magenta-green (CYMG), infra-red, ultra-violet, and the like,in any arrangement or scheme such as columns, diagonals, and the like.It is noted that such a set of colors can be achieved either by usingspecific color sensitive detectors or by using color filters over thewide spectrum detectors.

[0129] Reference is further made to FIG. 4, which is a schematicillustration of a super-pixel, generally referenced 350, constructed andoperative in accordance with another preferred embodiment of the presentinvention. Super-pixel 350 includes a left section of sensors whichincludes four sensors 352, 354, 356 and 358 and a right section ofsensors which also includes four sensors 360, 362, 364 and 366. Sensors352 and 366 detect generally cyan colored light, sensors 354 and 360detect generally yellow colored light, sensors 356 and 362 detectgenerally magenta colored light and sensors 358 and 364 detect generallygreen colored light. Hence, each of the sections includes a complete setof sensors for detecting light in the entire visible spectrum.

[0130] Reference is further made to FIGS. 5A, 5B and 5C. FIG. 5A is aschematic illustration of a super-pixel, generally referenced 370,constructed and operative in accordance with a further preferredembodiment of the present invention. FIG. 5B is a schematic illustrationof super-pixel 370 combined with a single lenticular element, generallyreferenced 384, constructed and operative in accordance with anotherpreferred embodiment of the present invention. FIG. 5C is a schematicillustration of super-pixel 370 combined with three lenticular elements,generally referenced 386, constructed and operative in accordance with afurther preferred embodiment of the present invention.

[0131] The color arrangement which is provided for super-pixel 370 istypical for vertical light detection arrays, where each column ofsensors is coated with light filtering layer of a different color. Ascan be seen in FIG. 5A, super-pixel 370 includes a plurality of lightsensors 372, 374, 376, 378, 380 and 382. Light sensors 372 and 378 areblue color range sensors. Light sensors 374 and 380 are green colorrange sensors. Light sensors 376 and 382 are red color range sensors.

[0132] Reference is now made to FIG. 6, which is a schematicIllustration of a sensor, generally referenced 390, and a lenticularlens layer, generally referenced 392, constructed and operative inaccordance with another preferred embodiment of the present invention.Sensor 390 is logically divided into a plurality of super-pixels,generally referenced 394 _((x,y)). For example, the upper-leftsuper-pixel is referenced 394 _((1,1)) and the lower-right sidesuper-pixel is referenced 394 _((M,N)).

[0133] As can be seen from FIG. 6, the color arrangement of sensor 390is diagonal. Hence, each super pixel has a different color arrangement,and generally speaking, there are several types of super-pixels, such asred-blue (super pixel 394 _((M-2,N))), green-red (super pixel 394_((M-1,N))) and blue-green (super pixel 394 _((M,N))).

[0134] Reference is now made to FIG. 7A, which is a schematicillustration of a method for operating apparatus 200, operative inaccordance with a further preferred embodiment of the present invention.In step 400, the apparatus 200 splits light which arrives from differentdirections, utilizing the lenticular lens 222. Each of the lenticularelements produces two light sectors, one sector which includes lightrays arriving from the left side, and another sector which includeslight rays arriving from the right side.

[0135] In step 402, the apparatus detects each light sector separately,using a plurality of light detectors, each detecting a portion of itsrespective sector. With reference to FIG. 3B, sensors 302, 304 and 306detect light which arrives from the lenticular element 318, at the leftside sector and sensors 308, 310 and 312 detect light which arrives fromthe lenticular element 318, at the right side sector. Each of thesensors detects light at a sub-sector.

[0136] In step 404, the apparatus 200 determines the lightcharacteristics as detected by each of the light sensors, at each of thesub-sectors. In step 408, the apparatus 200 utilizes the data, which wasaccumulated from selected sub-sectors to determine and produce an imagerepresenting a view from one side. In step 406, the apparatus 200utilizes the data, which was accumulated from other selected sub-sectorsto determine and produce an image representing a view from another side.In step 410, the apparatus 200 displays both images using a continuousstereoscopic display device.

[0137] According to a further aspect of the invention, information fromselected pixels can be used to enhance information for other pixels. Forexample, color information of pixels, which are associated with a firstcolor, is used for extrapolating that color at the location of anotherpixel, associated with a second color.

[0138] Reference is further made to FIGS. 7B and 7C. FIG. 7B is anillustration in detail of step 406 of FIG. 7A. FIG. 7C is a schematicillustration of a sensor array, generally referenced 450, and alenticular lens layer, generally referenced 452, constructed andoperative in accordance with another preferred embodiment of the presentinvention. Sensor array 450 includes a plurality of pixel sensors,referenced 454, each associated with a selected color. For example,pixel sensors R_((1,1)), R_((2,2)), R_((3,3)), R_((4,4)), R_((1,4)) andR_((4,1)) are associated with the red color. Pixel sensors G_((2,1)),G_((3,2)), G_((4,3)), G_((1,3)) and G_((2,4)) are associated with thegreen color. Pixel sensors B_((1,2)), B_((2,3)), B_((3,4)), B_((3,1))and B_((4,2)) are associated with the blue color.

[0139] In step 420, the system, according to the invention, selects apixel sensor, associated with a first color. With reference to FIG. 7C,the selected pixel sensor according to the present example is pixelsensor R_((3,3)).

[0140] In step 422, the system determines pixels, associated with asecond color, in the vicinity of the selected pixel. It is noted thatthese pixels can also be restricted to ones, which relate to the sameimage side of the selected pixel. With reference to FIG. 7C, the secondcolor is green and the green pixel sensors, in the vicinity of pixelsensor R_((3,3)), respective of the same image side are pixel sensorsG_((5,1)), G_((3,2)), G_((3,5)), G_((5,4)), and G_((1,3)).

[0141] In step 424, the system calculates an approximation of the levelof the green color at the location of the selected pixel R_((3,3)). Itis noted that the calculation can include a plurality of approximationprocedures, such as calculating the weighted average level, depending onthe location of pixel sensors G_((5,1)), G_((3,2)), G_((3,5)),G_((5,4)), and G_((1,3)), with respect to the location of the selectedpixel sensor R_((3,3)). Similarly, blue color level at the location ofthe selected pixel sensor R_((3,3)), can be calculated using theinformation received from pixel sensors B_((1,2)), B_((1,5)), B_((3,1)),B_((3,4)) and B_((5,3)). Hence the present invention provides a methodfor enhancing picture resolution by means of color informationinterpolation, using image processing.

[0142] It is noted that none of the lenticular elements is necessarilyround shaped, but can be formed according to other optical structureswhich are based on various prism designs, and the like, which providethe directing of beams of light coming from different directions todifferent directions.

[0143] Reference is now made to FIG. 8, which is a schematicillustration of a stereoscopic vision apparatus, generally referenced500, constructed and operative in accordance with a further preferredembodiment of the present invention. Apparatus 500 includes a sensorassembly 502, a frame grabber 510, a processor 508, a light source 506,a memory unit 504, a stereoscopic video generator 512 and a stereoscopicdisplay 514. The sensor assembly 502 is connected to the frame grabber510 by a flexible cord 518. The frame grabber 510, the processor 508,the memory unit 504 and the stereoscopic video generator 512 are allinterconnected via a common bus.

[0144] The sensor assembly 502 is generally similar to the sensorassembly 202, as described herein above in conjunction with FIG. 2. Thesensor assembly 502 includes a lens 526, a lenticular lens layer 522, alight sensor array 520, an analog to digital converter (AID) 528 and alight projecting means 524. The lenticular lens layer 522 is attached tothe light sensor array 520. Light sensor array 520 is connected to theAID 528, which could also act as a supporting base. The light projectingmeans 524 is connected to light source 506, which provides lightthereto.

[0145] The stereoscopic display 514 includes two display units, a leftdisplay unit 516L (for placing in front of the left eye of the user),and a right display unit 516R (for placing in front of the right eye ofthe user). Hence, the stereoscopic display 514 is capable of displayingstereoscopic images continuously. A/D converter 528 converts analoginformation received from light sensor array 522 into digital format andprovides the digital information to frame grabber 510.

[0146] The digital information is received by the frame grabber 510 andhence made available to the processor 508 via the bus. As the processor508 processes the information, it uses the memory unit 504 as temporarystorage. After processing the information, the processor 508 producestwo matrices each being a reconstructed representation relating-to oneof the originally detected images. The processor 508 provides thesematrices to the stereoscopic video generator 512, which in turn producestwo respective video signals, one for the left view image and anotherfor the right view image. The stereoscopic video generator 512 providesthe video signals to the stereoscopic display 514, which in turnproduces two images, one using right display unit 516R and another usingleft display unit 516L.

[0147] Reference is now made to FIGS. 9A, 9B and 9C. FIG. 9A is a viewin perspective of a super-pixel, generally referenced 550, and alenticular element, generally referenced 552, constructed and operativein accordance with another preferred embodiment of the presentinvention. FIG. 9B is a view from the bottom of the lenticular element552 and the super-pixel 550 of FIG. 9A. FIG. 9C is a view from the sideof the lenticular element 552 and the super-pixel 550 of FIG. 9A.

[0148] The super-pixel 550 includes four sensor sections, 554, 556, 558and 560, arranged in a rectangular formation. The lenticular element 552is shaped like a dome and is basically divided into four sections, eachfacing a different one of the sensor sections 554, 556, 558 and 560.

[0149] The super-pixel 550 and the lenticular element 552 form together,an optical detection unit, which is capable of detecting anddistinguishing light which arrives from four different directions. Thelenticular element 552 directs a portion of the upper-left side view ofthe detected object to sensor section 554 and directs a portion of thelower-left side view of the detected object to sensor section 556. Inaddition, the lenticular element 552 directs a portion of theupper-right side view of the detected object to sensor section 560 and aportion of the lower-right side view of the detected object to sensorsection 558.

[0150] It is noted that according to a further aspect of the invention,the four-direction arrangement, which is described in FIGS. 9A, 9B and9C can be used to logically rotate the image which is provided to theuser, without physically rotating the device itself. At first, sensorsections 560 and 558 are used to form the right-side image and sensorsections 554 and 556 are used to form the left-side image. A rotation atan angle of 90° clockwise, is provided by assigning sensor sections 554and 560, to form the right side image, and assigning sensor sections 556and 558, to form the left-side image It is further noted that a rotationin any desired angle can also be performed by means of a linear or othercombination of sensor sections, when reconstructing the final images.

[0151] Reference is now made to FIG. 10, which is a view in perspectiveof a section of light sensors, generally referenced 570, and alenticular element, generally referenced 572, constructed and operativein accordance with a further preferred embodiment of the presentInvention. Lenticular element 572 is extended to cover the entire areaof the section of pixels, so as to enhance light transmission thereto.

[0152] Reference is now made to FIG. 11, which is a view in perspectiveof a sensor array, generally referenced 580, and a lenticular lenslayer, generally referenced 582, constructed and operative in accordancewith another preferred embodiment of the present invention. Thelenticular lens layer 582 includes a plurality of four directionlenticular elements such as described in FIGS. 9A and 10. The sensorarray 580 is logically divided into a plurality of sensor sections,generally referenced 584 _((x,y)) For example, the upper left sensorsection is referenced 584 _((1,1)) and the lower-right sensor section isreferenced 584 _((M,N)). Each of the sensor sections is located beneatha lenticular element and detects light directed thereby.

[0153] Reference is now made to FIGS. 12A and 12B. FIG. 12A is aschematic illustration of a detection apparatus, generally referenced600, constructed and operative in accordance with a further preferredembodiment of the present invention. FIG. 12B is another schematicillustration of detection apparatus 600, of FIG. 12A.

[0154] Detection apparatus 600 includes an optical assembly 602, alenticular lens layer 604 and an array of sensors 608. The detectionapparatus 600 detects images of an object 610, which includes aplurality of object sections 610A, 610B, 610C and 610D.

[0155] Sensor array 608 includes a plurality of super-pixels 608A, 6088,608C and 608D. Each of these super-pixels is divided into a left-sidesection and a right-side section. For example, super-pixel 608A includesa left-side section, designated 608A_(L) and a right-side section,designated 608A_(R).

[0156] The optical assembly 602 is divided into two optical sections 602_(L) and 602 _(R), each directed at transferring an image, whichrepresents a different side view. Optical section 602 _(R) transfers animage, which is a view from the right side of object 610. Opticalsection 602 _(L) transfers an image, which is a view from the left sideof object 610.

[0157] A plurality of light rays 612, 614, 616 and 618 are directed fromall sections of the object 610 to the left side of optical assembly 602(i.e., optical section 602 _(L)), and are directed to the lenticularlens layer 604. Here, these rays are further directed to the left-sideview associated sensor sections, which are sensor sections 608 _(L)(i.e., sensor sections 608A_(L), 608B_(L), 608C_(L) and 608D_(L)).

[0158] With reference to FIG. 12B, a plurality of light rays 622, 624,626 and 628 are directed from all sections of the object 610 to theright side of optical assembly 602 (i.e., optical section 602 _(R)), andare directed to the lenticular lens layer 604. Here, these rays arefurther directed to the right-side view associated sensor sections,which are sensor sections 608A_(R), 608B_(R), 608C_(R) and 608D_(R).

[0159] Reference is now made to FIG. 13, which is a schematicillustration of a detection apparatus, generally referenced 630,constructed and operative in accordance with another preferredembodiment of the present invention. Detection apparatus 630 includes anoptical assembly, which is divided into four sections 632, 634, 636 and638, a lenticular lens layer 642 and an array of sensors 640. Thedetection apparatus 630 detects images of an object 648, which includesa plurality of object sections 648A, 648B, 648C, 648D, 648E and 648F.Light rays, which arrive from object 648 to any of the optical sections,are directed to a lenticular element of the lenticular lens layer 642,according to their origin.

[0160] In the present example, all of the light rays 646A, 646B, 646Cand 646D arrive from object element 648A. Each of these rays is receivedat a different optical section. Ray 646A is received and directed byoptical section 636, ray 646B is received and directed by opticalsection 638, ray 646C is received and directed by optical section 634and ray 646D is received and directed by optical section 632. Each ofthe optical sections directs its respective ray to a specific lenticularelement 642 _((1,1)), at the right side of the lenticular lens layer642. The location of lenticular element 642 _((1,1)) is respective ofthe location of the object element 648A. The lenticular element 642_((1,1)) directs each of the rays to predetermined light sensors withinits respective super-pixel 640 _((1,1)).

[0161] In accordance with a further aspect of the present invention,there is provided a reduced size color stereovision detection system,which uses time-multiplexed colored light projections, and respectivetime-multiplexed frame grabbing.

[0162] Reference is now made to FIGS. 14A and 14B. FIG. 14A is apartially schematic, partially perspective illustration of a combinedillumination and detection device, generally referenced 650, constructedand operative in accordance with a further preferred embodiment of thepresent invention. FIG. 14B is a partially schematic, partiallyperspective illustration of the combined illumination and detectiondevice 650 of FIG. 14A, a controller, generally designated 662, andoutput frames, constructed and operative in accordance with anotherpreferred embodiment of the present invention.

[0163] Device 650 includes a lenticular lens layer 652, a full spectrumsensor array 654, an optical assembly 660 and an illuminating unit 656,surrounding the optical assembly 660. Illuminating unit 656 includes aplurality of illuminating elements, generally referenced 658, each beingof a specific predetermined color. Illuminating elements 658 _(RED)produce generally red light, illuminating elements 658 _(GREEN) producegenerally green light and illuminating elements 658 _(BLUE) producegenerally blue light. It is noted that each of the illuminating elementscan be of a specific color (i.e., a specific wavelength), a range ofcolors (i.e., a range of wavelengths) or alternating colors, forexample, a multi-color light emitting diode (LED).

[0164] Each group of illuminating elements, which are of the same color,is activated at a different point in time. For example, illuminatingelements 658 _(RED) are activated and shut down first, illuminatingelements 658 _(GREEN) are activated and shut down second andilluminating elements 658 _(BLUE) are activated and shut down last. Thenthe illuminating sequence is repeated.

[0165] With reference to FIG. 14B, the controller 662 is connected tothe sensor array 654 and to the illuminating unit 656. The sensor array654 includes full spectrum sensors, which are capable of detecting red,green and blue light, but cannot indicate the wavelength of the detectedlight. The controller 662 associates the images, which are detected atany particular moment, using the sensor array 654, with the color of theilluminating elements, which were active at that particular moment.

[0166] Hence, the first detected frame 664 in an illumination sequenceis considered red, since the illuminating elements which were active atthat time, were illuminating elements 658 _(RED). Similarly, the seconddetected frame 666 in an illumination sequence is considered green,since the illuminating elements, which were active at that time, wereilluminating elements 658 _(GREEN). Finally, the last detected frame 668in an illumination sequence is considered blue, since the illuminatingelements, which were active at that time, were illuminating elements 658_(BLUE). It is noted that any other combination of colors is applicablefor this and any other aspect of the present invention, such as CYMG,and the like.

[0167] Reference is now made to FIG. 15, which is an illustration inperspective of a color illumination unit, generally referenced 670,constructed and operative in accordance with a further preferredembodiment of the present invention. Unit 670 includes a light-guidingelement 671, which is generally shaped as an open-cut hollow cone,having a narrow section 674 and a wide section 672. A detection headaccording to the invention, such as described in FIG. 2 (referenced202), can be placed within the hollow space of the light-guiding element671. A multi-color light source 680 can be connected to the narrowsection 674. Light, such as light ray 678, which is emitted from thelight source 680, is directed Via the light guiding element 671, and isprojected through the wide section 672.

[0168] According to a further aspect of the invention, a remotemulti-color light source 682 can be connected to the narrow section 674via additional light guiding members such as optic-fibers 684. Light,such as light ray 676, which is emitted from the light source 682, isdirected via the light guiding members 684 to the narrow section 674.The light-guiding element 671 guides light ray 676, and projects itthrough the wide section 672. This arrangement is useful when using anexternal light source, which is to be placed outside the inspected area(for example, outside the body of the patient).

[0169] According to a further aspect of the invention, a full spectrumillumination unit, which produces white light, is combined with a devicesuch as sensor assembly 202 (FIG. 2).

[0170] Reference is now made to FIG. 16, which is a view in perspectiveof a sensor array, generally referenced 700, and a partial lenticularlens layer, generally referenced 702, constructed and operative inaccordance with another preferred embodiment of the present invention.The partial lenticular lens layer 700 includes a plurality of fourdirection lenticular elements 702 such as described in FIGS. 9A and 10.The sensor array 700 is logically divided into a plurality of sensorsections, generally referenced 704 _((x,y)). For example, the upper leftsensor section is referenced 704 _((1,1)) and the lower-right sensorsection is referenced 704 _((M,N)). Some of the sensor sections, in theperimeter, are located beneath lenticular elements and others, such asthe sensor sections in the center rectangle, which is defined by sensorsections 704 _((4,3))-704 _((7,6)) are not. Accordingly, the sensorswhich are located at the center rectangle can not be used to providemulti-direction (stereoscopic or quadroscopic) information. Instead,these sensors provide enhanced resolution monoscopic information.

[0171] Reference is now made to FIG. 17, which is a view in perspectiveof a sensor array, generally referenced 720, and a partial lenticularlens layer, generally referenced 722, constructed and operative inaccordance with a further preferred embodiment of the present invention.The partial lenticular lens layer 720 includes a plurality of fourdirection lenticular elements such as described in FIGS. 9A and 10. Thesensor array 720 is logically divided into a plurality of sensorsections, generally referenced 724 _((x,y)). For example, the upper leftsensor section is referenced 724 _((1,1)) and the lower-right sensorsection is referenced 724 _((M,N)). Here, some of the sensor sections,in the center, (such as sensor section 724 _((4.2))) are located beneathlenticular elements and others, such as the sensor sections in theperimeter (such as sensor section 724 _((1,1))) are not. Accordingly,the sensors which are located at the center provide multi-direction(stereoscopic or quadroscopic) information and the ones in the perimeterprovide enhanced resolution monoscopic information.

[0172] In accordance with a further aspect of the present inventionthere is provided a partial lenticular lens layer, which includes spacedapart lenticular elements. Reference is now made to FIG. 18, which is aschematic illustration of a sensor array, generally referenced 740, anda partial lenticular lens layer, generally referenced 742, constructedand operative in accordance with another preferred embodiment of thepresent invention.

[0173] The partial lenticular lens layer 742 includes a plurality oflenticular elements designated 744 _((1),) 744 ₍₂₎ and 744 ₍₃₎.Lenticular element 744 ₍₁₎ is located over the first two left columns ofcolor sensors, generally referenced 746 ₍₁₎, of sensor array 740. Hence,the information received from these first two left columns of colorsensors of sensor array. 740 contains stereoscopic information. Thethird and fourth columns of color sensors, generally designated 746 ₍₂₎,of sensor array 740 do not have a lenticular element located thereon,and hence, cannot be used to provide stereoscopic information.

[0174] Similarly, lenticular elements 744 ₍₂₎ and 744 ₍₃₎ are locatedover color sensor column pairs, 746 ₍₃₎ and 746 ₍₅₎, respectively, whilecolor sensor column pairs, 746 ₍₄₎ and 746 ₍₆₎ are not covered withlenticular elements.

[0175] Reference is now made to FIG. 19, which is a schematicillustration of a sensor array, generally referenced. 760, and a partiallenticular lens layer, generally referenced 762, constructed andoperative in accordance with another preferred embodiment of the presentinvention. Lenticular lens layer 762 includes a plurality of lenticularelements, referenced 764 ₍₁₎, 764 ₍₂₎, 764 ₍₃₎ and 764 ₍₄₎, being ofdifferent sizes and located at random locations over the sensor array760. It is noted that any structure of partial lenticular lens layer isapplicable for the invention, whereas the associated image processingapplication has to be configured according to the coverage of thatspecific lenticular lens layer, and to address covered sensors anduncovered sensors appropriately.

[0176] In accordance with a further aspect of the present invention,there is provided a system, which produces a color stereoscopic image.The structure of the stereoscopic device defines at least two viewingangles, through which the detector can detect an image of an object.According to one aspect of the invention, the stereoscopic deviceincludes an aperture for each viewing angle. Each of the apertures canbe opened or shut. The stereoscopic device captures a stereoscopicimage, by alternately detecting an image of an object, from each of theviewing angles, (e.g., by opening a different aperture at a time andshutting the rest) through a plurality of apertures, (at least two),each time from a different aperture. The final stereoscopic image can bereconstructed from the images captured with respect to the differentviewing angles.

[0177] The detection of stereoscopic color image is provided byilluminating the object with a sequence of light beams, each at adifferent wavelength, and detecting a separate image for each wavelengthand aperture combination.

[0178] Reference is now made to FIGS. 20A and 20B. FIG. 20A is aschematic illustration of a system, generally referenced 800, forproducing a color stereoscopic image, in a right side detection mode,constructed and operative in accordance with a further preferredembodiment of the invention. FIG. 20B is an illustration of the systemof FIG. 20A, in a left-side detection mode.

[0179] System 800 includes a multiple aperture 804, a controller 834, animage detector 812, a storage unit 836, an image processor 838, amovement detector 814 and an illumination unit 830. The controller 834is connected to the multiple aperture 804, the image detector 812, thestorage unit 836, movement detector 814 and to the illumination unit830. The storage unit 836 is further connected to the image processor838. The multiple aperture 804 includes a plurality of apertures,generally referenced 802 _(i), where each aperture can be activated tobe open or closed. It is noted that when an aperture is open it is atleast transparent to a predetermined degree to light, and when anaperture is closed, it substantially prevents the travel of light therethrough. Any type of controllable light valve can be used to constructeach of the apertures. Movement detector 814 detects the movement ofimage detector 812. The detected movement can be a linear displacement,an angular displacement, and the derivatives thereof such as velocity,acceleration, and the like. The operation of system 800, according todata received from movement detector 814, is described herein below inconnection with FIGS. 25A, 25B, 25C, 26A, 26B and 26C.

[0180] Light valve elements are components, which have an ability toinfluence light in at least one way. Some of these ways are, forexample: scattering, converging, diverging, absorbing, imposing apolarization pattern, influencing a polarization pattern which, forexample, may be by rotation of a polarization plane. Other ways toinfluence light can be by influencing wave-length, diverting thedirection of a beam, for example by using digital micro-mirror display(also known as DMD) or by using field effect, influencing phase,interference techniques, which either block or transfer a portion of abeam of light, and the like. Activation of light valve elements, whichare utilized by the present invention, can be performed eitherelectrically, magnetically or optically. Commonly used light valveelements are liquid crystal based elements, which either rotate orcreate and enforce a predetermined polarization axis.

[0181] In the present example, multiple aperture 804 includes twoapertures 802 _(R) and 802 _(L). The controller 834 further activatesthe multiple aperture 804, so as to alternately open apertures 802 _(R)and 802 _(L). In FIG. 20A, aperture 802 _(R) is open while aperture 802_(L) is dosed and in FIG. 20B, aperture 802 _(R) is closed whileaperture 802 _(L) is open.

[0182] Light rays, which reflect from various sections of the object810, pass through the currently open aperture (802 _(R) in FIG. 20A and802_(L) in FIG. 20B). Thereby, light rays 822 and 824 arrive fromsection 810A of object 810, pass through aperture 802 _(R), and aredetected by detection element 808A, while light rays 826 and 828 arrivefrom section 810D, pass through aperture 802 _(R) and are detected bydetection element 808D. Hence, when aperture 802 _(R) is open, thesystem 800 provides a right side view of the object 810.

[0183] With reference to FIG. 20B, when aperture 802 _(L) is open, lightrays 827 and 825 arrive from section 810A, pass through aperture 802_(L), and are detected by detection element 808A, while light rays 821and 823 arrive from section 810D, pass through aperture 802 _(L), andare detected by detection element 808D. Thereby, the system 800 providesa left side view of the object 810.

[0184] The illumination unit 830 is a multi-color illumination unit,which can produce light at a plurality of wavelengths. The controller834 provides a sequence of illumination commands to the illuminationunit 830, so as to produce a beam at a different predeterminedwavelength, at each given moment. In the present example,the-illumination unit is a red-green-blue (RGB) unit, which can producea red light beam, a green light beam and a blue light beam. It is notedthat illumination unit 830 can be replaced with any other multi-colorillumination unit, which can produce either visible light, non-visiblelight or both, at any desired wavelength combination (CYMG and thelike).

[0185] Furthermore, illumination unit 830 can be a passive unit, whereit receives external commands to move from one wavelength to another, orit can be an active unit, which changes wavelength independently andprovides an indication of the currently active wavelength to an externalcontroller. Illumination unit 830 of the present example is a passiveunit, which enhances the versatility of the system 800, by providing anywavelength sequence on demand.

[0186] The image detector 812 includes a plurality of detection elements808A, 808B, 808C and 808D. In accordance with one aspect of theinvention, image detector 812 is a full range color detector, where eachof the detection elements is operative to detect light in a plurality ofwavelengths. In accordance with another aspect of the invention, theimage detector 812 is a color segmented detector, where the detectionelements are divided into groups, each operative to detect light in adifferent range of wavelengths. One conventional type of such detectorsincludes a full range detection array, which is covered by a colorfilter layer, where each detection element is covered by a differentcolor filter. Accordingly, some of the detection elements are coveredwith red filters, others are covered with green filters and the rest arecovered with blue filters.

[0187] The present invention enhances the color resolution of systems,using such color detectors. It will be appreciated by those skilled inthe art that a color segment detector of poor quality may exhibit awavelength (color) overlap between the different detection elements. Forexample, when the filters are of poor quality, their filtering functionstend to overlap such that the red filter also passes a small amount ofeither green or blue light. Hence, the detection element behind the redfilter, also detects that small amount of green or blue light, butprovides an output measurement as a measurement of red light. Hence, thecolor detector produces an image, which includes incorrect measurementsof red light (e.g. more than the actual red light, which arrived at thedetector) as result of that overlap. Accordingly, received informationof the inspected object is not valid.

[0188] In the present invention, the illumination unit 830 produces asequence of non-overlapping illumination beams at predeterminedwavelengths (i.e., red, blue and green). As explained above, the colordetector detects an image, which includes incorrect measurements, as aresult of the wavelength (color) filtering overlap. Since theillumination unit 830 and the image acquisition process aresynchronized, the imaging system can process each of the acquiredimages, according to the actual light beam color, which was producedtherewith. For example, the illumination unit 830 produces blue lightillumination beam. At the same time the image detector 812 detects animage, which also includes actual light measurements in detectionelements, which are covered with green and red filters, due to thewavelength overlap. The imaging system can discard light measurements,which are received from detection elements, covered with color filters,which are not blue (e.g., red and green).

[0189] Such sequenced color illumination of the object, providesenhanced color resolution, for color image detectors of poor quality,and obtains the valid color images of the inspected object. System 800can further include a stereoscopic display unit (not shown), connectedto controller 834 for displaying an stereoscopic image of object 810.

[0190] Reference is further made to FIG. 21A. which is a schematicillustration of a timing sequence, in which controller 834 (FIG. 20A)synchronizes the operation of illumination unit 830, apertures 802 _(L).and 802 _(R), and image detector 812. Signal 840 represents the timingsequence of the left aperture 802 _(L). Signal 842 represents the timingsequence of the right aperture 802 _(R). Signal 844 represents thetiming sequence of the blue light beam, produced by the illuminationunit 830. Signal 846 represents the timing sequence of the green lightbeam, produced by the illumination unit 830. Signal 848 represents thetiming sequence of the red light beam, produced by the illumination unit830. Signal 841 represents the timing sequence of the image detector812, where each image is downloaded therefrom.

[0191] Timing sequence 841 rises every time any of the rises ofsequences 844, 846 and 848 intersect with a rise of either sequence 842or sequence 840. For example, rise 841 _(A) indicates a frame downloadof a blue light—right aperture combination, rise 841 _(B) indicates aframe download of a green light—right aperture combination, and rise 841_(C) indicates a frame download of a red light—right aperturecombination. Similarly, rise 841 _(D) indicates a frame download of ablue light—left aperture combination, rise 841 _(E) indicates a framedownload of a green light—left aperture combination and rise 841 _(F)indicates a frame download of a red light—left aperture combination.

[0192] It is noted that for some light sources, the produced light beamsdo not cover the full range of visible light. For such light sources,the missing color components can be reconstructed (interpolated) takinginto consideration the physiological assumption, that color reflectionresponse as a function of reflected angle, does not change much withangle.

[0193] Reference is further made to FIG. 22, which is a schematicillustration of a method for operating system 800 of FIG. 20A and 20B,operative in accordance with another preferred embodiment of the presentinvention. In step 870, a sequence of illumination beams atpredetermined wavelengths is produced. With reference to FIGS. 20A and20B, controller 834 provides a sequence of illumination commands to theillumination unit 830, which in turn produces different wavelength lightbeams, generally referenced 832, at predetermined points in time,towards an object, generally referenced 810.

[0194] In step 872 right and left apertures are alternated. Light rays,which reflect from various sections of the object 810, pass through thecurrently open aperture (802 _(R) in FIG. 20A and 802_(L) in FIG. 20B).With reference to FIGS. 20A and 20B, controller 834 provides a sequenceof operating commands to the apertures 802 _(L) and 802 _(R).

[0195] In step 874, a plurality of frames, each for a selected apertureand wavelength combination is detected. Controller 834 operates theimage detector 812 so as to detect a plurality of frames, eachrespective of a selected aperture and wavelength combination.

[0196] Light rays 822 and 824 (FIG. 20A) arrive from section 810A ofobject 810, pass through aperture 802 _(R), and are detected bydetection element 808A, while light rays 826 and 828 arrive from section810D, pass through aperture 802 _(R) and are detected by detectionelement 808D. It is noted that in the present example, an imagingelement (not shown) is introduced in the vicinity of multiple aperture804. Hence, when aperture 802 _(R) is open, the system 800 provides aright side view of the object 810.

[0197] Light rays 827 and 825 (FIG. 20B) arrive from section 810A, passthrough aperture 802 _(L) and are detected by detection element 808A,while light rays 821 and 823 arrive from section 810D, pass throughaperture 802 _(L) and are detected by detection element 808D. Hence,when aperture 802 _(L) is open, the system 800 provides a left side viewof the object 810.

[0198] With reference to FIG. 21A, rise 841 _(A) provides a right sideblue image (reference 806 ^(R) _(G) of FIG. 20A), rise 841 _(B) providesa right side green image (reference 806 ^(R) _(G) of FIG. 20A), and rise841 _(C) provides a right side red image (reference 806 ^(R) _(R) ofFIG. 20A). Similarly, rise 841 _(D) provides a left side blue image(reference 806 ^(L) _(B) of FIG. 20B), rise 841 _(E) provides a leftside green image (reference 806 ^(L) _(G) of FIG. 20B), and rise 841_(F) provides a left side red image (reference 806 ^(L) _(R) of FIG.20B). With reference to FIGS. 20A and 20B, image detector 812 detectsthe plurality of frames, and provides right and left output video forimage processing.

[0199] In step 876, movement between the detector and the inspectedorgan, at selected frequencies is detected. This movement can bedetected from movement of the endoscope, by means of a movementdetector, or by analyzing the detected images, where different colorimages exhibit different lines, with dramatic color shade changes. Thisinformation is utilized in the following step, for spatially correlatingbetween images of different colors.

[0200] In step 878 a stereoscopic color image from the plurality offrames, according to their aperture origin is produced. With referenceto FIGS. 20A and 20B, the controller 834 stores the detected images instorage unit 836. Image processor 838 retrieves the detected images fromthe storage unit 836, and constructs color stereoscopic images. Hence,the present invention provides an additional way for detecting a colorstereoscopic image, using a single image detector for both sides and allcolors.

[0201] Reference is further made to FIG. 21B, which is a schematicillustration of another timing sequence, in which controller 834 (FIG.20A) synchronizes the operation of illumination unit 830, apertures 802_(L) and 802 _(R), and image detector 812. Signal 840′ represents thetiming sequence of the left aperture 802 _(L). Signal 842′ representsthe timing sequence of the right aperture 802 _(R). Signal 844′represents the timing sequence of the blue light beam, produced by theillumination unit 830. Signal 846′ represents the timing sequence of thegreen light beam, produced by the illumination unit 830. Signal 848′represents the timing sequence of the red light beam, produced by theillumination unit 830. Signal 841′ represents the timing sequence of theimage detector 812, where each image is downloaded therefrom.

[0202] Timing sequence 841′ rises every time any of the rises ofsequences 844′, 846′ and 848′ intersects with a rise of either sequence842′ or sequence 840′. For example, rise 841′_(A) indicates a framedownload of a blue light—right aperture combination, rise 841′_(B)indicates a frame download of a blue light—left aperture combination andrise 841′_(C) indicates a frame download of a green light—right aperturecombination. Similarly, rise 841′_(D) indicates a frame download of agreen light—left aperture combination, rise 841′_(E) indicates a framedownload of a red light—right aperture combination and rise 841′_(F)indicates a frame download of a blue light—left aperture combinationReference is further made to FIG. 23, which is a schematic illustrationof a timing scheme, for operating system 800 of FIGS. 20A and 20B, inaccordance with a further preferred embodiment of the present invention.Signal 850 represents the timing sequence of the left aperture 802 _(L).Signal 852 represents the timing sequence of the right aperture 802_(R). Signal 854 represents the timing sequence of the blue light beam.Signal 856 represents the timing sequence of the green light beam.

[0203] Signal 858 represents the timing sequence of the red light beam.Signal 851 represents the timing sequence of the image detector 812,where each image is downloaded therefrom. As can be seen in FIG. 23, thetiming scheme is asymmetric, where the green light beam is activated fora time period which is twice the time period of either the red lightbeam or the blue light beam. Signal 851 corresponds to this arrangementand provides a green image download rise (references 851 _(B) and 851_(E)), after a time period which is twice as long with comparison to redimage download rises (references 851 _(C) and 851 _(F)) or blue imagedownload rises (references 851 _(A) and 851 _(D)).

[0204] Reference is further made to FIG. 24, which is a schematicillustration of a timing scheme, for operating system 800 of FIGS. 20Aand 20B, in accordance with another preferred embodiment of the presentinvention. Signal 860 represents the timing sequence of the leftaperture 802 _(L). Signal 862 represents the timing sequence of theright aperture 802 _(R). Signal 864 represents the timing sequence ofthe magenta light beam. Signal 866 represents the timing sequence of theyellow light beam. Signal 868 represents the timing sequence of the cyanlight beam. As can be seen in FIG. 24, the timing scheme addresses analternate wavelength scheme and is also asymmetric.

[0205] It is noted that a mechanical multi-wavelength illumination unitsuch as described in the prior art, can be used for implementing thepresent invention. However, such a system significantly reduces thecapability of the user to control illumination duration, wavelengthratio and detection timing, such as described herein above.

[0206] The disclosed technique incorporates even more advanced aspects,which provide automatic image translation correction, based oncorrelation between the two detected images. When the endoscope ishandheld, it is subjected to the vibration of the human hand, which isin the order of 10 Hz, at an angular amplitude of 1 degree. Thisphenomenon causes a blur of areas, where different colors intersect, andis also known as the “between color field blur” effect. It is noted thatany movement between the image detector and the inspected organ cancause this phenomenon, provided it occurs at particular frequencies,defined by the structure and the manner of operation of the system.

[0207] With reference to FIGS. 20A and 20B, since the informationretrieved from image detector 812 relates to specific colors, thencontroller 834 can correlate between such single color images todetermine the ΔX and ΔY to the subsequent color, and hence compose andproduce an un-blurred color image. Due to the vibrations of the humanhand, while image detector 812 is substantially stationary relative toobject 810, the displayed stereoscopic image of object 810 is blurred.In order to mitigate this problem, and provide a blur-free stereoscopicimage of object 810 to the viewer, movement detector 230 (FIG. 2), isincorporated with system 200, and movement detector 814 is incorporatedwith system 800.

[0208] Reference is now made to FIGS. 25A, 25B, 25C, 26A, 26B and 26Cand again to FIG. 2. FIG. 25A is a schematic illustration of an object,generally referenced 766, and a sensor assembly generally referenced768, when the sensor assembly is located at an initial position withrespect to the object. FIG. 25B is a schematic illustration of theobject and the sensor assembly of FIG. 25A, when the sensor assembly hasmoved to a new position. FIG. 25C is a schematic illustration of theobject and the sensor assembly of FIG. 25A, when the sensor assembly hasmoved to another position. FIG. 26A is a schematic illustration of adetected image, generally referenced 770, as detected by sensor assemblyof FIG. 25A, and a respective displayed image, generally referenced 772,in accordance with a further preferred embodiment of the presentinvention. FIG. 26B is a schematic illustration of a detected image,generally referenced 780, as detected by sensor assembly of FIG. 25B,and a respective displayed image, generally referenced 774. FIG. 26C isa schematic illustration of a detected image, generally referenced 782,as detected by the sensor assembly of FIG. 25C, and a respectivedisplayed image, generally referenced 776.

[0209] The foregoing description relates to one aspect of the invention,in which an stereoscopic image of an object is captured by a sensorarray through a lenticular lens layer (i.e., each captured imageincludes all the primary colors of the color palette, such as RGB, CYMG,and the like). It is noted that the movement is determined such that ithas a constant average (e.g., vibrating about a certain point).

[0210] With reference to FIGS. 25A and 26A, the center of sensorassembly 768 is located at a point O₁ relative to object 766. Sensorassembly 768 detects detected image 770 (FIG. 26A) of object 766, wherethe detected image 770 is composed for example, of four hundred pixels(i.e., a 20×20 matrix). Each pixel is designated by P_(m,n) where m isthe row and n is the column of detected image 770. For example, pixel778 _(1,1) is located in the first row and the first column of detectedimage 770, pixel 778 _(1,2) is located in the first row and the secondcolumn, and pixel 778 _(20,20) is located in row twenty and columntwenty. Processor 208 selects pixels 778 _(3,3) through 778 _(18,18)(i.e., a total of 16×16=256 pixels) to display the sub-matrix 772 onstereoscopic display 214 (FIG. 2), while the center of sensor assembly768 is located at point O₁.

[0211] With reference to FIGS. 25B and 26B, due to the vibrations of thehuman hand, the center of sensor assembly 768 has moved to a point O₂relative to object 766. Point O₂ is located a distance ΔX₁ to the rightof point O₁ and a distance ΔY₁ below point O₁. In this case the lengthof ΔX₁ is equal to the horizontal width of two pixels of detected image780, and the length ΔY₁ is equal to the vertical height of minus twopixels of detected image 780. Movement detector 230 detects the movementof sensor assembly 768 from point O₁ to point O₂, and sends a signalrespective of this movement, to processor 208.

[0212] With reference to FIG. 26B, the image of the object section thatwas captured by sub-matrix 772, is now captured by a sub-matrix 774,which is shifted two pixels up and two pixels to the left. Hence,displaying sub-matrix 774, compensates for the movement of sensorassembly 768. For this purpose, processor 208 selects pixels 778 _(1,1)through 778 _(16,16) of detected image 780, for sub-matrix 774. Despitethe movement of sensor assembly 768, the images of sub-matrices 772 and774 are substantially of the same area, and therefore the user does notrealize that sensor assembly 768 has moved from point O₁ to point O₂.

[0213] With reference to FIGS. 25C and 26C, the center of sensorassembly 768 has moved from point O₁ to a point O₃ relative to object766. Point O₃ is located a distance ΔX₂ to the left of point O₁ and adistance ΔY₂ above point O₁. In this case the length of ΔX₂ is equal tothe horizontal width of minus two pixels of detected image 782, and thelength ΔY₂ is equal to the vertical height of one pixel of detectedimage 782. Movement detector 230 detects the movement of sensor assembly768 from point O₁ to point O₃, and sends a signal respective of thismovement, to processor 208.

[0214] With reference to FIG. 26C, the image of the object section thatwas captured by sub-matrix 772, is now captured by a sub-matrix 776,which is shifted one pixel up and two pixels to the left. Hence,displaying sub-matrix 774, compensates for the movement of sensorassembly 768 two pixels to the left and one pixel up. For this purpose,processor 208 selects pixels 778 _(5,4) through 778 _(20,19) of detectedimage 782, for sub-matrix 776. Despite the movement of sensor assembly768, the images of displayed images 772 and 776 are identical, andtherefore the user does not realize that sensor assembly 768 has movedfrom point O₁ to point O₃. Therefore, by Incorporating movement detector230 with sensor assembly 768, the viewer views a blur-free stereoscopiccolor image of object 766, despite the vibrations of sensor assembly 768caused by the human hand.

[0215] It is noted that processor 208 processes the detected images 780and 782, if the dimensions ΔX₁, ΔX₂, ΔY₁ and ΔY₂ are of the order of A,the amplitude of vibrations of the human hand and in the appropriatefrequency. In general, processor 208 performs the compensation process,between a plurality of captured images, as long as the detectedmovement, is maintained about a certain average point(X_(AVERAGE),Y_(AVERAGE)). When one of the average values X_(AVERAGE)and Y_(AVERAGE) changes, then processor 208 initiates a new compensationprocess around the updated average point, accordingly.

[0216] Reference is now made to FIGS. 25D, 25E, 25F, 27A, 27B, 27C, 27D,27E, 27F and again to FIGS. 20A, 20B, 25A, 25B and 25C. FIG. 25D is aschematic illustration of the object and the sensor assembly of FIG.25A, when the sensor assembly has moved to a further new position. FIG.25E is a schematic illustration of the object and the sensor assembly ofFIG. 25A, when the sensor assembly has moved to another new position.FIG. 25F is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position. FIG. 27A is a schematic illustration of a sub-matrix,generally referenced 1064, in accordance with another preferredembodiment of the present invention, when the sensor assembly is at alocation illustrated in FIG. 25A. FIG. 27B is a schematic illustrationof a sub-matrix, generally referenced 1066, when the sensor assembly isat a location illustrated in FIG. 25B. FIG. 27C is a schematicillustration of a sub-matrix, generally referenced 1068, when the sensorassembly is at a location illustrated in FIG. 25C. FIG. 27D is aschematic illustration of a sub-matrix, generally referenced 1070, whenthe sensor assembly is at a location illustrated in FIG. 25D. FIG. 27Eis a schematic illustration of a sub-matrix, generally referenced 1072,when the sensor assembly is at a location illustrated in FIG. 25E. FIG.27F is a schematic illustration of a sub-matrix, generally referenced1074, when the sensor assembly is at a location illustrated in FIG. 25F.

[0217] Image processor 838 (FIG. 20A), selects each of sub-matrices1064, 1066 and 1068 from detected images 1052, 1054 and 1056,respectively, as described herein above in connection with FIGS. 26A,26B and 26C. Analogously, image processor 838 selects each ofsub-matrices 1070, 1072 and 1074 from detected images 1058, 1060 and1062, respectively, when the center of sensor assembly 768 is directedto each of the points O₄, O₅, and O₆, respectively. For example, whenthe center of sensor assembly 768 is directed to point O₄, which islocated to the right and above point O₁, image processor 838 selectssub-matrix 1070 (FIG. 27D). When the center of sensor assembly 838 isdirected to point O₅ directly below point O₁, image processor 838selects sub-matrix 1072 (FIG. 27E). When the center of sensor assembly838 is directed to point O₆ directly above point O₁, image processor 838selects sub-matrix 1074 (FIG. 27F).

[0218] In the following description, object 810 (FIGS. 20A and 20B) andobject 766 (FIG. 25A) are used interchangeably, although they bothrepresent the same object. Object 810 is described in connection withmultiple aperture 804 and illumination unit 830, while object 766 isdescribed in connection with the location of sensor assembly 768relative thereto. It is noted that during the time interval in which theopening of multiple aperture 804 switches from aperture 802 _(R) (FIG.20A), to aperture 802 _(L) (FIG. 20B), sensor assembly 768 movesrelative to object 766, due to the vibrations of the human hand. Thus,for example, sub-matrix 1064 (FIG. 27A) represents a right view image ofobject 810 corresponding to the image which image processor 838captures, when aperture 802 _(R) is open. On the other hand, sub-matrix1066 (FIG. 27B) represents a left view image of object 766, whenaperture 802 _(L) is open.

[0219] Furthermore, the color of detected images 1052, 1054, 1056, 1058,1060, and, 1062 changes as described herein above for example inconnection with FIG. 21B. Image processor 838 receives download image841′_(A), and selects sub-matrix 1064 (FIG. 27A), which is a right viewimage of object 766 (FIG. 25A) in blue, when the center of sensorassembly 768 is directed to point O₁.

[0220] While multiple aperture 804 switches to aperture 802 _(L), thecenter of sensor assembly 768 (FIG. 25B) directs to point O₂ (FIG. 25B),and image processor 838 receives download image 841′_(B). Since thecenter of sensor assembly 768 is directed to point O₂ (FIG. 25B), thenimage processor 838 selects sub-matrix 1066 (FIG. 27B) which representsa left view image of object 810 in blue. Analogously, sub-matrix 1068(FIG. 27C) represents a green right view image of object 766 (downloadimage 841′_(C)), when the center of sensor assembly 768 is directed topoint O₃ (FIG. 25C). Sub-matrix 1070 (FIG. 27D) represents a green leftview image of object 766 (download image 841′_(D)), when the center ofsensor assembly 768 directs to point O₄ (FIG. 25D). Sub-matrix 1072(FIG. 27E) represents a red right view image of object 766 (downloadimage 841′_(E)), when the center of sensor assembly 768 directs to pointO₅ (FIG. 25E). Sub-matrix 1074 (FIG. 27F) represents a red left viewimage of object 766 (download image 841′_(F)), when the center of sensorassembly 768 directs to point O₆ (FIG. 25F).

[0221] According to FIG. 21A, a stereoscopic display unit (not shown)displays sub-matrices 1064, 1066, 1068, 1070, 1072 and 1074 in sequence.Sub-matrices 1064, 1068 and 1072 are the right side views ofsubstantially the same area of object 766, which together compose aright side color image of the object 766. Sub-matrices 1066, 1070 and1074 are the left side views of substantially the same area of object766, which together compose a left side color image of the object 766.The stereoscopic display unit alternately displays the right view imageand the left view image of substantially the same area of object 766.Thus, system 800 maintains a stable image of object 766, which does notexhibit any change in the location of object 766 as displayed on thestereoscopic display unit, despite the movement of sensor assembly 768due to the vibrations of the human hand.

[0222] For example, image processor 838 selects sub-matrices 1064, 1068and 1072 (FIGS. 27A, 27C and 27E, respectively), and the stereoscopicdisplay (not shown), sequentially displays the same image in blue, greenand red, respectively. Thus, the stereoscopic display presents a stableright side image of the object in full color, to the right eye.Similarly, the stereoscopic display sequentially displays sub-matrices1066, 1070 and 1074 (FIGS. 27B, 27D and 27F, respectively), wherein thecolor of each sub-matrix sequentially changes from blue to green to red,respectively. In this manner, the stereoscopic display presents a stableleft side image of the object in full color, to the left eye. Thus, theuser views a stable full color stereoscopic image of the object, despitethe movement of the endoscope due to the vibrations of the human hand.

[0223] It is noted that an RGB timing scheme can be employed. In thiscase, the stereoscopic display displays the sub-matrices in a sequenceof right-red, left-green, right-blue, left-red, right-green andleft-blue.

[0224] It is noted that the sequence of FIGS. 27A, 27B, 27C, 27D, 27Eand 27F is cyclically repeated during the imaging process of the object.Other timing schemes can be employed where the download image triggersignal is used for acquiring a reading from movement detector 814, forthe detected image. Examples for such timing schemes are illustrated inFIGS. 23, 24, and 21A.

[0225] It will be appreciated by persons skilled in the art that thepresent invention is not limited to what has been particularly shown anddescribed here in above. Rather the scope of the present invention isdefined only by the claims which follow.

[0226] In accordance with another aspect of the present invention, thereis thus provided an edible capsule wirelessly incorporated with acontrol unit, for producing real time stereoscopic images of thedigestive system of a patient while the capsule moves through thedigestive system. The capsule further includes a plurality ofcompartments, for either dispensing chemical substances in the digestivesystem or collecting enteric substances from the digestive system,according to respective commands wirelessly transmitted from the controlunit to the capsule.

[0227] Reference is now made to FIG. 28, which is a schematicillustration of an imaging system, generally referenced 880, constructedand operative in accordance with a further preferred embodiment of thepresent invention. System 880 includes a capsule 882 and a control unit884. Capsule 882 includes a stereoscopic sensor assembly in the form ofa lenticular lens layer 886 attached to a sensor array 888, a powersupply 890, a processor 892, a memory unit 894, a transceiver 898, alight source 912, a light dispersing unit 918 and an optical assembly910. Control unit 884 includes a transceiver 900, an image processingsystem 902 and a stereoscopic display 904. Lenticular lens layer 886,sensor array 888 and light source 912 are generally similar tolenticular lens layer 222 (FIG. 2), light sensor array 220 and lightsource 206, respectively, as described herein above. It is noted thatstereoscopic display 904 can include stereoscopic goggles, astereoscopic display unit, volumetric three-dimensional display, and thelike.

[0228] Light dispersing unit 918 is in the form of an annular body madeof a material which conveys beam of light there through, such asplastic, glass, and the like. Light dispersing unit 918 conveys anddisperses the light beams which light source 912 emits. Light dispersingunit 918 surrounds the sensor assembly completely, thereby illuminatingan object 908. Alternatively, the light dispersing unit can surroundonly part of the sensor assembly. Sensor array 888 detects light in grayscale. Alternatively, a different sensor array can be employed whichdetects light in a color scale. Light source 912 emits light beams in apredetermined range of wavelengths. Alternatively, a different lightsource can be employed, which emits at least two alternating beams oflight, each in a different range of wavelengths.

[0229] Processor 892, memory unit 894 and transceiver 898 areinterconnected through a common bus 906. Image processing system 902 ofcontrol unit 884 is connected to transceiver 900 and to stereoscopicdisplay 904. Optical assembly 910 is located distally in capsule 882 ina line of sight between object 908 and lenticular lens layer 886.

[0230] Power supply 890 is a battery, an electrical power generatorwhich draws power from the heat of the body of the patient, and thelike, which provides electrical power to components located in capsule882.

[0231] Lenticular lens layer 886 separates a right side image and a leftside image of object 908 for sensor array 888, and sensor array 888sends a combined image (e.g., of the right and left side images) toprocessor 892. Processor 892 captures the image detected by sensor array888 and processes each image, such as by performing data compressionoperations, and the like. For this purpose, processor 892 employs memoryunit 894. Processor 892, then sends the processed data to transceiver898. Transceiver 898 transmits the processed data, to image processingsystem 902 via transceiver 900.

[0232] Image processing system 902 processes the data received fromtransceiver 900, and produces two matrices respective of each of theright side and left side images of object 908. Image processing system902, then produces video signals respective of the two matrices. Imageprocessing system 902 provides the video signals to stereoscopic display904, which in turn produces a stereoscopic image of object 908.

[0233] It is noted that according to this aspect of the presentinvention, capsule 882 provides a stereoscopic view of inner wall ofdigestive system of the patient, thus substantially assisting thetreating physician to reach the correct and minimally invasivediagnosis. It is furthermore noted that according to another aspect ofthe present invention, processor 892 and memory unit 894 can beeliminated from capsule 882. In this case system 880 can still produceand display a stereoscopic image of object 908, although thisstereoscopic image is of a lower quality.

[0234] Reference is now made to FIGS. 29, which is a schematicillustration of an imaging system, generally referenced 920, constructedand operative in accordance With another preferred embodiment of thepresent invention. System 920 includes a capsule 922 and a control unit924.

[0235] Capsule 922 includes a stereoscopic sensor assembly in the formof a lenticular lens layer 926 attached to a sensor array 928, a powersupply 930, a processor 934, an optical assembly 916, a light source 914and a transceiver 932. Control unit 924 includes a transceiver 938, amemory unit 942, an image processing system 944 and a stereoscopicdisplay 946. Processor 934 is connected to sensor array 928 and totransceiver 932. Power supply 930 provides electrical power to allcomponents located in capsule 922. Memory unit 942, image processingsystem 944, stereoscopic display 946 and transceiver 938 areinterconnected via a common bus 948. Processor 934 receives datarespective of the right side image and the left side image of an object936 from sensor array 928, processes the data, and sends the data totransceiver 932. Transceiver 932 transmits the data to image processingsystem 944 via transceiver 938. Image processing system 944, in turnprocesses the data respective of the right side image and left sideimage, produces video signals respective of the right side image and theleft side image of object 936, and transmits the video signals tostereoscopic display 946. Stereoscopic display 946, then provides astereoscopic image of object 936.

[0236] It is noted that in this case capsule 922 includes a minimumnumber of components (i.e., lenticular lens layer 926, sensor array 928,power supply 930, transceiver 932, processor 934 and light source 914).Thus, capsule 922 can be much smaller in size than capsule 882 (FIG.28), while providing the same information about the digestive system ofthe patient. As a result, the electrical power requirements of capsule922 are typically lower than that of capsule 882, thus enabling areduction in the size of power supply 930, compared with power supply890. Therefore the physical dimensions of capsule 922 can be furthersmaller than those of capsule 882.

[0237] Reference is now made to FIG. 30, which is a schematicillustration of an imaging system, generally referenced 950, constructedand operative in accordance with a further preferred embodiment of thepresent invention. System 950 includes a capsule 952 and a control unit954. Capsule 952 includes a plurality of dispensing compartments 956_(A), a plurality of collection compartments 956 _(B), a transceiver960, a processor 962, a power supply 964, a stereoscopic sensor assemblyin the form of a lenticular lens layer 966 attached to a sensor array968, a light source 982 and an optical assembly 980. Each of thedispensing compartment 956 _(A) and collection compartment 956 _(B)includes door mechanisms 958 _(A) and 958 _(B), respectively. Controlunit 954 includes a transceiver 970, a user interface 972, an imageprocessing system 974 and a stereoscopic display 976. Dispensingcompartment 956 _(A) is designed to release a medical substance into thedigestive system, as shown by an arrow 978 _(A). Collection compartment956 _(B) is designed to collect bodily substances from the digestivesystem, as shown by an arrow 978 _(B).

[0238] Transceiver 960, processor 962, power supply 964, lenticular lenslayer 966, sensor array 968 and optical assembly 980 are similar totransceiver 932 (FIG. 29), processor 934, power supply 930, lenticularlens layer 926, sensor array 928 and optical assembly 916, respectively.Transceiver 970, image processing system 974 and stereoscopic display976 are likewise similar to transceiver 938, image processing system 944and stereoscopic display 946, respectively. User interface 972 is aninput device of the types known in the art, such as tactile, audio,visual, kinesthetic, and the like.

[0239] Processor 962 is connected to sensor array 968, transceiver 960,power supply 964 and each of door mechanisms 958 _(A) and 958 _(B).Image processing system 974 is connected to stereoscopic display 976,user interface 972 and transceiver 970.

[0240] Initially, when the patient ingests capsule 952, dispensingcompartment 956 _(A) and collection compartment 956 _(B) are closed.Dispensing compartment 956 _(A) contains a medical substance, which isto be dispensed in a selected location within the digestive system. Onthe other hand, collection compartment 956 _(B) is initially empty, inorder to collect a bodily substance from a selected location within thedigestive system of the patient.

[0241] When door mechanism 958 _(A) opens, the medical substance isreleased form dispensing compartment 956 _(A). The amount of the medicalsubstance released, can be controlled by controlling the opening timeperiod of door mechanism 958 _(A). Thus, in order to release a requiredvolume of the medical substance, door mechanism 958 _(A) is opened for aselected time period, and then immediately closed.

[0242] Likewise, when door mechanism 958 _(B) is opened, the bodilysubstances in the vicinity of capsule 952 fill collection compartment956 _(B). Door mechanism 958 _(B) can be left open for a selected periodof time, in order to collect a selected amount of bodily substances.Door mechanism 958 _(B) is then closed in order to keep the bodilysubstances within collection compartment 956 _(B). At a later stageduring the treatment, capsule 952 is retrieved from the patient, doormechanism 958 _(B) is opened, and the collected bodily substances areremoved from collection compartment 956 _(B) for testing the collectedbodily substances.

[0243] Processor 962 can direct either of door mechanisms 958 _(A) or958 _(B) to open or close. Each of the door mechanisms 958 _(A) and 958_(B) includes a movable element (not shown), such as a shape memoryelement, a bimetallic element, a microelectromechanical system (MEMS),and the like, which alternately opens and closes the respective doormechanism.

[0244] When capsule 952 moves within the digestive system of thepatient, the physician views the stereoscopic image of the internal wallof the digestive system in real time, via stereoscopic display 976. Whenthe physician determines that the medical substance has to be dispensedat a selected location, as viewed via stereoscopic display 976, shedirects door mechanism 958 _(A) via user interface 972, to open. Thephysician can direct user interface 972 to leave door mechanism 958 _(A)open, for a selected period of time in order to dispense a selectedvolume of the medical substance.

[0245] When user interface 972 receives a command from the physician toopen door mechanism 958 _(A), user interface 972 sends a respectivesignal to transceiver 970. Transceiver 970 in turn transmits the signalto transceiver 960, and processor 962 directs door mechanism 958 _(A) toopen according to another signal received from transceiver 960.

[0246] When the physician determines that bodily substances have to becollected from a selected location, for example, as viewed viastereoscopic display 976, she directs user interface 972 to open doormechanism 958 _(B). Door mechanism 958 _(B) is closed after apredetermined time, either manually or automatically, during which acontrolled amount of bodily substances enter collection compartment 956_(B) and fill collection compartment 956 _(B). The physician directscapsule 952 to activate door mechanism 958 _(B) as described hereinabove in conjunction with activation of door mechanism 958 _(A).

[0247] It is noted that capsule 952 can include a plurality ofdispensing compartments 956 _(A) and a plurality of collectioncompartments 956 _(B). Thereby, the physician can direct capsule 952 todispense different or the same medical substances, at one or differentlocations within the digestive system of the patient. For this purpose,processor 962 includes therein the addresses of each of the plurality ofdispensing compartments. Thus, user interface 972 can associate anactivation command (i.e., open or close) with a selected dispensingcompartment. Likewise, processor 962 includes the addresses of each ofthe collection compartments, wherein user interface 972 can associate anactivation command with a selected collection compartment.

[0248] Reference is now made to FIG. 31, which is a schematicillustration of a capsule, generally referenced 1000, constructed andoperative in accordance with another preferred embodiment of the presentinvention. Capsule 1000 includes an optical assembly 1002, an uppermirror 1004, a lower mirror 1006, an upper sensor array 1008, a lowersensor array 1010, a processor 1012, a transceiver 1014, a light source1020 and a power supply 1016. Upper mirror 1004 and lower mirror 1006are each convex type mirrors. In general, these mirrors are eachdesigned to project the image received from the optical assembly, ontothe respective sensor array, and hence can assume other shapes,depending on the optical geometry of the system.

[0249] The detecting surfaces of upper sensor array 1008 and lowersensor array 1010 face opposite directions. Upper mirror 1004 faces thedetecting surface of upper sensor array 1008, and lower mirror 1006faces the detecting surface of lower sensor array 1010. Optical assembly1002 is located between lower mirror 1006, upper mirror 1004, and anobject 1018 such that optical assembly 1002 directs light beams fromobject 1018 to lower mirror 1006 and upper mirror 1004. Upper sensorarray 1008 and lower sensor array 1010 are each connected to processor1012. Processor 1012 is further connected to transceiver 1014.

[0250] Optical assembly 1002 directs the light beams from the upper viewof object 1018, toward lower mirror 1006. Likewise, optical assembly1002 directs the light beams from the lower view of object 1018, towardupper mirror 1004. Lower mirror 1006, then directs the upper view imageof object 1018 toward lower sensor array 1010, and upper mirror 1004directs the lower view image of object 1018 toward upper sensor array1008. Thus, lower sensor array 1010 detects the upper view image ofobject 1018 and upper sensor array 1008 detects the lower view image ofobject 1018.

[0251] Processor 1012 processes the data which upper sensor array 1008and lower sensor array 1010 produce, such as by performing datacompression operations, discarding redundant data, and the like.Transceiver 1014 transmits the processed data to an image processingsystem (not shown) via a different transceiver (not shown). The imageprocessing system produces video signals respective of the processeddata, and a stereoscopic display (not shown) displays a stereoscopicimage of object 1018. It is noted that the light beam configurationillustrated in FIG. 31 is only an example (i.e., upper mirror 1004 andlower mirror 1006 are not restricted to convex type mirrors). Thus,according to this aspect of the present invention, other types ofmirrors can be employed.

[0252] Reference is now made to FIGS. 32A and 32B. FIG. 32A is aschematic illustration of a capsule, generally referenced 1030,constructed and operative in accordance with a further preferredembodiment of the present invention. FIG. 32B is an illustration of thecapsule of FIG. 32A, in a different detection mode.

[0253] Capsule 1030 includes a lens 1032, a stereoscopic sensor assemblyin the form of a multiple aperture 1034 and a sensor array 1036, aprocessor 1038, a memory unit 1040, a transceiver 1042, an illuminationunit 1046 and a power supply 1044. Multiple aperture 1034, sensor array1036, processor 1038 and illumination unit 1046 are substantiallysimilar to multiple aperture 804 (FIG. 20A), image detector 812,controller 834 and illumination unit 830, respectively, as describedherein above.

[0254] With reference to FIG. 32A, illumination unit 1046 illuminates anobject 1048, and lens 1032 focuses the light beams reflected by object1048 on multiple aperture 1034. The lower portion of multiple aperture1034 is closed, thus sensor array 1036 detects the upper view of object1048. With reference to FIG. 32B, the upper portion of multiple aperture1034 is closed, wherein sensor array 1036 detects the lower view ofobject 1048. The upper and lower portions of multiple aperture 1034alternately open and close, thereby allowing sensor array 1036 to detectalternately the upper and lower views of object 1048.

[0255] Processor 1038 operates multiple aperture 1034, sensor array 1036and illumination unit 1046 as described herein above in connection withFIG. 20A. Processor 1038 receives a sequence of images of object 1048,for example as illustrated in FIG. 21A, from sensor array 1036 andsequentially stores the images in memory unit 1040. When memory unit1040 contains a predetermined number of the sequential images, memoryunit 1040 sends these images to transceiver 1042. Transceiver 1042 sendsthe images to an image processing system (not shown) via a differenttransceiver (not shown). The image processing system produces videosignals respective of the images, and an stereoscopic display (notshown) displays a stereoscopic image of object 1048. It is noted thatbased on the type of illumination unit 1046 (i.e., color or monochrome),the stereoscopic display can display either a color or a monochromaticstereoscopic image of object 1048.

1. System for producing a stereoscopic image of an object, anddisplaying the stereoscopic image, the system comprising: a capsule; anda control unit; said capsule comprising: a sensor assembly; a processorconnected to said sensor assembly; a capsule transceiver connected tosaid processor; a light source; and a power supply for supplyingelectrical power to said capsule transceiver, said processor, said lightsource and to said sensor assembly, said control unit comprising: acontrol unit transceiver; and an image processing system connected tosaid control unit transceiver, wherein, said sensor assembly detectssaid stereoscopic image, said processor captures said stereoscopicimage, said capsule transceiver transmits said stereoscopic image tosaid control unit transceiver and said image processing system processessaid stereoscopic image.
 2. The system according to claim 1 , whereinsaid capsule further comprises a memory unit connected to said processorand to said capsule transceiver, said power supply supplying electricalpower to said memory unit.
 3. The system according to claim 1 , whereinsaid control unit further comprises a memory unit connected to saidcontrol unit transceiver and to said image processing system.
 4. Thesystem according to claim 1 , wherein said capsule further comprises anoptical assembly for focusing an image of said object on said sensorassembly.
 5. The system according to claim 2 , wherein said capsulefurther comprises an optical assembly for focusing an image of saidobject on said sensor assembly.
 6. The system according to claim 3 ,wherein said capsule further comprises an optical assembly for focusingan image of said object on said sensor assembly.
 7. The system accordingto claim 1 , wherein said capsule further comprises a light dispersingunit which surrounds said sensor assembly completely.
 8. The systemaccording to claim 1 , wherein said capsule further comprises a lightdispersing unit which surrounds said sensor assembly partially.
 9. Thesystem according to claim 2 , wherein said capsule further comprises alight dispersing unit which surrounds said sensor assembly completely.10. The system according to claim 2 , wherein said capsule furthercomprises a light dispersing unit which surrounds said sensor assemblypartially.
 11. The system according to claim 3 , wherein said capsulefurther comprises a light dispersing unit which surrounds said sensorassembly completely.
 12. The system according to claim 3 , wherein saidcapsule further comprises a light dispersing unit which surrounds saidsensor assembly partially.
 13. The system according to claim 1 , whereinsaid capsule further comprises at least one dispensing compartment. 14.The system according to claim 1 , wherein said capsule further comprisesat least one collecting compartment.
 15. The system according to claim13 , wherein each of said at least one dispensing compartments comprisesa door mechanism, and each of said door mechanisms is connected to saidprocessor.
 16. The system according to claim 14 , wherein each of saidat least one collecting compartments comprises a door mechanism, andeach of said door mechanisms is connected to said processor.
 17. Thesystem according to claim 1 , wherein said control unit furthermorecomprises a user interface connected to said control unit transceiverand to said image processing system.
 18. The system according to claim15 , wherein each of said at least one dispensing compartments furthercontains a medical substance.
 19. The system according to claim 16 ,wherein each of said at least one collecting compartments collects abodily substance.
 20. The system according to claim 18 , wherein each ofsaid at least one dispensing compartments releases a selected amount ofsaid medical substance according to a command provided by said processorto said door mechanism.
 21. The system according to claim 19 , whereineach of said at least one collecting compartments collects a selectedamount of said bodily substance according to a command which saidprocessor provides said door mechanism.
 22. The system according toclaim 15 , wherein each of said door mechanisms comprises a movingelement for opening and closing each of said door mechanisms.
 23. Thesystem according to claim 16 , wherein each of said door mechanismscomprises a moving element for opening and closing each of said doormechanisms.
 24. The system according to claim 22 , wherein the type ofsaid moving element is selected from the list consisting of: shapememory element; bimetallic element; and micro-electromechanical system.25. The system according to claim 23 , wherein the type of said movingelement is selected from the list consisting of: shape memory element;bimetallic element; and micro-electromechanical system.
 26. The systemaccording to claim 1 , wherein said sensor assembly comprises:lenticular lens layer, including a plurality of lenticular elements; andlight sensor array, wherein each said lenticular elements is located infront of a selected group of said light sensors, thereby directing lightfrom different directions to different light sensors within saidselected group of said light sensors.
 27. The system according to claim26 , wherein said light source produces at least two alternating beamsof light, each said at least two alternating beams of light, each saidalternating beams of light characterized as being in a different rangeof wavelengths.
 28. The system according to claim 26 , wherein saidlight source produces light in a predetermined range of wavelengths. 29.The system according to claim 26 , wherein said light sensor arrayincludes at least two groups of sensors, the sensors of each said groupdetect light in a different range of wavelengths.
 30. The systemaccording to claim 26 , wherein said light sensor array includes aplurality of sensors, each said sensors detects light in a predeterminedrange of wavelengths.
 31. The system according to claim 27 , whereineach said different ranges of wavelengths associated with said lightsource, is selected from the list consisting of: substantially visiblered color light; substantially visible green color light; substantiallyvisible blue color light; substantially visible cyan color light;substantially visible yellow color light; substantially visible magentacolor light; substantially infra-red light; substantially ultra-violetlight; and visible light.
 32. The system according to claim 29 , whereineach said different ranges of wavelengths associated with said sensors,is selected from the list consisting of: substantially visible red colorlight; substantially visible green color light; substantially visibleblue color light; substantially visible cyan color light; substantiallyvisible yellow color light; substantially visible magenta color light;substantially infra-red light; substantially ultra-violet light; andvisible light.
 33. The system according to claim 30 , wherein each saidpredetermined ranges of wavelengths associated with said sensors, isselected from the list consisting of: substantially visible red colorlight; substantially visible green color light; substantially visibleblue color light; substantially visible cyan color light; substantiallyvisible yellow color light; substantially visible magenta color light;substantially infra-red light; substantially ultra-violet light; andvisible light.
 34. The system according to claim 26 , wherein said lightsensor array is a color red-green-blue (RGB) sensor array.
 35. Thesystem according to claim 26 , wherein said light sensor array is acolor cyan-yellow-magenta-green (CYMG) sensor array.
 36. The systemaccording to claim 26 , wherein each said lenticular elements includeslight directing means which distinguish between at least two directionsof light.
 37. The system according to claim 26 , wherein each saidlenticular elements includes light directing means, which distinguishbetween four directions of light.
 38. The system according to claim 26 ,wherein each said lenticular elements is shaped in a generalsemi-cylindrical shape.
 39. The system according to claim 26 , whereineach said selected group of said light sensors includes an even numberof light sensors.
 40. The system according to claim 1 , wherein saidsensor assembly comprises: at least two apertures, each said at leasttwo apertures includes a light valve, each said light valves beingoperative to open at a different predetermined timing; and a lightsensor array, wherein said light sensor array detects a plurality ofimages, each said images corresponds to an open state of a selected oneof said light valves.
 41. The system according to claim 40 , whereinsaid light source produces at least two alternating beams of light, eachalternating beams of light characterized as being in a different rangeof wavelengths.
 42. The system according to claim 40 , wherein saidlight source produces light in a predetermined range of wavelengths. 43.The system according to claim 40 , wherein said light sensor arrayincludes at least two groups of sensors, the sensors of each said groupdetect light in a different range of wavelengths.
 44. The systemaccording to claim 40 , wherein said light sensor array includes aplurality of sensors, each said sensors detects light in a predeterminedrange of wavelengths.
 45. The system according to claim 41 , whereineach said different ranges of wavelengths associated with said lightsource, is selected from the list consisting of: substantially visiblered color light; substantially visible green color light; substantiallyvisible blue color light; substantially visible cyan color light;substantially visible yellow color light; substantially visible magentacolor light; substantially infra-red light; substantially ultra-violetlight; and visible light.
 46. The system according to claim 43 , whereineach said different ranges of wavelengths associated with said sensors,is selected from the list consisting of: substantially visible red colorlight; substantially visible green color light; substantially visibleblue color light; substantially visible cyan color light; substantiallyvisible yellow color light; substantially visible magenta color light;substantially infra-red light; substantially ultra-violet light; andvisible light.
 47. The system according to claim 44 , wherein each saidpredetermined ranges of wavelengths associated with said sensors, isselected from the list consisting of: substantially visible red colorlight; substantially visible green color light; substantially visibleblue color light; substantially visible cyan color light; substantiallyvisible yellow color light; substantially visible magenta color light;substantially infra-red light; substantially ultra-violet light; andvisible light.
 48. The system according to claim 40 , wherein said lightsensor array is a color red-green-blue (RGB) sensor array.
 49. Thesystem according to claim 40 , wherein said light sensor array is acolor cyan-yellow-magenta-green (CYMG) sensor array.
 50. The systemaccording to claim 41 , wherein each said images corresponds to apredetermined combination of an open state of a selected one of saidlight valves and a selected one of said at least two alternating beamsof light.
 51. The system according to claim 40 , wherein said lightsource surrounds said at least two apertures.
 52. The system accordingto claim 40 , wherein said light source directs light aside from said atleast two apertures.
 53. The system according to claim 1 , wherein saidsensor assembly comprises: a lower light sensor array connected to saidprocessor; an upper light sensor array connected to said processor, anupper light sensor array detecting surface faces a direction opposite tothe direction of a lower light sensor array detecting surface; a lowermirror facing said lower light sensor array detecting surface; an uppermirror facing said upper light sensor array detecting surface; and anoptical assembly located between said lower mirror, said upper mirrorand said object for directing light beams from said object to said lowermirror and to said upper mirror, and wherein each of said lower lightsensor array and said upper light sensor array includes a plurality oflight sensors, and wherein said optical assembly directs at least onelight beam from a first portion of said object to said lower mirror, andsaid optical assembly directs at least one light beam from a secondportion of said object to said upper mirror, and wherein said lowermirror reflects said at least one light beam from said first portion tosaid lower light sensor array detecting surface, said upper mirrorreflects said at least one light beam from said second portion to saidupper light sensor array detecting surface, and wherein said lower lightsensor array detects an image of said first portion and said upper lightsensor array detects an image of said second portion.
 54. The systemaccording to claim 53 , wherein said light source produces at least twoalternating beams of light, each said alternating beams of lightcharacterized as being in a different range of wavelengths.
 55. Thesystem according to claim 53 , wherein said light source produces lightin a predetermined range of wavelengths.
 56. The system according toclaim 53 , wherein said lower light sensor array includes at least twogroups of sensors, the sensors of each said group detect light in adifferent range of wavelengths.
 57. The system according to claim 53 ,wherein said upper light sensor array includes at least two groups ofsensors, the sensors of each said group detect light in a differentrange of wavelengths.
 58. The system according to claim 53 , whereinsaid lower light sensor array includes a plurality of sensors, each saidsensors detects light in a predetermined range of wavelengths.
 59. Thesystem according to claim 53 , wherein said upper light sensor arrayincludes a plurality of sensors, each said sensors detects light in apredetermined range of wavelengths.
 60. The system according to claim 54, wherein each said different ranges of wavelengths associated with saidlight source, is selected from the list consisting of: substantiallyvisible red color light; substantially visible green color light;substantially visible blue color light; substantially visible cyan colorlight; substantially visible yellow color light; substantially visiblemagenta color light; substantially infra-red light; substantiallyultra-violet light; and visible light.
 61. The system according to claim56 , wherein each said different ranges of wavelengths associated withsaid sensors, is selected from the list consisting of: substantiallyvisible red color light; substantially visible green color light;substantially visible blue color light; substantially visible cyan colorlight; substantially visible yellow color light; substantially visiblemagenta color light; substantially infra-red light; substantiallyultra-violet light; and visible light.
 62. The system according to claim57 , wherein each said different ranges of wavelengths associated withsaid sensors, is selected from the list consisting of: substantiallyvisible red color light; substantially visible green color light;substantially visible blue color light; substantially visible cyan colorlight; substantially visible yellow color light; substantially visiblemagenta color light; substantially infra-red light; substantiallyultra-violet light; and visible light.
 63. The system according to claim58 , wherein each said predetermined ranges of wavelengths associatedwith said sensors, is selected from the list consisting of:substantially visible red color light; substantially visible green colorlight; substantially visible blue color light; substantially visiblecyan color light; substantially visible yellow color light;substantially visible magenta color light; substantially infra-redlight; substantially ultra-violet light; and visible light.
 64. Thesystem according to claim 59 , wherein each said predetermined ranges ofwavelengths associated with said sensors, is selected from the listconsisting of: substantially visible red color light; substantiallyvisible green color light; substantially visible blue color light;substantially visible cyan color light; substantially visible yellowcolor light; substantially visible magenta color light; substantiallyinfra-red light; substantially ultra-violet light; and visible light.65. The system according to claim 53 , wherein said lower light sensorarray is a color red-green-blue (RGB) sensor array.
 66. The systemaccording to claim 53 , wherein said upper light sensor array is a colorred-green-blue (RGB) sensor array.
 67. The system according to claim 53, wherein said lower light sensor array is a colorcyan-yellow-magenta-green (CYMG) sensor array.
 68. The system accordingto claim 53 , wherein said upper light sensor array is a colorcyan-yellow-magenta-green (CYMG) sensor array.
 69. The system accordingto claim 53 , wherein said lower mirror is convex.
 70. The systemaccording to claim 53 , wherein said upper mirror is convex.
 71. Thesystem according to claim 1 , further comprising a stereoscopic display,connected to said image processing system, for visually presenting saidstereoscopic image.
 72. The system according to claim 71 , wherein saidstereoscopic display is selected from the list consisting of:stereoscopic goggles; stereoscopic display unit; and volumetricthree-dimensional display.